DocumentCode
2187691
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
Volume
2
fYear
2000
fDate
19-22 Jan. 2000
Firstpage
49
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Technology 2000. Proceedings of IEEE International Conference on
Print_ISBN
0-7803-5812-0
Type
conf
DOI
10.1109/ICIT.2000.854095
Filename
854095
Link To Document