Title :
Instantaneous kinematics and design of a novel redundant parallel manipulator
Author :
Zanganeh, Kourosh E. ; Angeles, Jorge
Author_Institution :
Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
Abstract :
In this paper we study the velocity and acceleration relations of a novel redundant parallel manipulator. Through this study, we derive the Jacobian matrices of the inverse and direct velocity problems. Moreover, we introduce two practical designs that are kinematically equivalent to the ideal manipulator. The proposed manipulator has potential to be used in a wide range of applications from space robotics to highly dexterous flight simulators
Keywords :
inverse problems; kinematics; redundancy; robots; Jacobian matrices; direct velocity problems; highly dexterous flight simulators; instantaneous kinematics; inverse velocity problems; redundant parallel manipulator design; space robotics; Acceleration; Actuators; Aerospace simulation; Jacobian matrices; Kinematics; Leg; Manipulator dynamics; Mechanical engineering; Orbital robotics; Parallel robots;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351102
