Title :
SEPA-ROBOT: a serial-parallel manipulator with singularity-based design
Author :
Atia, Khaled R. ; Cartmell, M.P.
Author_Institution :
Dept. of Mech. Eng., Glasgow Univ., UK
Abstract :
In this paper a design for a new singularity-based 2 DOF robot manipulator is proposed. The design permits operation of the manipulator in either serial, parallel, or redundant actuated parallel mode. Thus all serial and parallel applications can be performed by one manipulator. By means of this design the versatility of the manipulator can be optimised.
Keywords :
manipulators; 2 DOF robot manipulator; SEPA-ROBOT; manipulator versatility; parallel mode; redundant actuated parallel mode; serial mode; serial-parallel manipulator; singularity-based design; Actuators; Design optimization; Grippers; Kinematics; Manipulator dynamics; Manufacturing industries; Mechanical engineering; Parallel robots; Service robots; Trajectory;
Conference_Titel :
Industrial Technology 2000. Proceedings of IEEE International Conference on
Print_ISBN :
0-7803-5812-0
DOI :
10.1109/ICIT.2000.854095
