DocumentCode
2519973
Title
The atlas of the payload capability for design of 2-DOF planar parallel manipulators
Author
Ozaki, Hiroaki ; Wang, Hongrui ; Liu, Xinjun ; Gao, Feng
Author_Institution
Fac. of Eng., Fukuoka Univ., Japan
Volume
2
fYear
1996
fDate
14-17 Oct 1996
Firstpage
1483
Abstract
This research utilizes a physical model of the solution space to investigate the relationships between the global payload index (GPI) and link lengths of 2-DOF parallel planar manipulators (PPMs). Equations for the GPI are derived and used to generate contours on the model of the solution space. The atlas is useful for the analysis and design of 2-DOF PPMs
Keywords
control system synthesis; manipulators; multidimensional systems; performance index; 2-DOF planar parallel manipulators; design; global payload index; link lengths; payload capability; physical model; Bars; Design engineering; Equations; H infinity control; Jacobian matrices; Kinematics; Manipulators; Orbital robotics; Parallel robots; Payloads;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man, and Cybernetics, 1996., IEEE International Conference on
Conference_Location
Beijing
ISSN
1062-922X
Print_ISBN
0-7803-3280-6
Type
conf
DOI
10.1109/ICSMC.1996.571364
Filename
571364
Link To Document