Parallel mechanisms with adjustable link parameters

Author

Arai, Tatsuo ; Takayama, Kazuriari ; Inoue, Kenji ; Mae, Yasushi ; Koseki, Yoshihiko

Author_Institution

Dept. of Syst. & Human Sci., Osaka Univ., Japan

Volume

1

fYear

2000

fDate

2000

Firstpage

671

Abstract

There has been always a workspace problem with parallel mechanisms. This paper discusses the workspace of the parallel mechanisms and its enlargement by adjusting their link parameters. The basic idea is to cover a whole required range of workspace with small pieces of one. A fixed linear type mechanism is selected to analyze and to evaluate its adjustable workspace. The analyses of simple 2 DOF plane model show that additional spaces are obtainable, which cannot be reached by the conventional mechanism due to its singularity. More detailed analyses and evaluations are discussed based on a 6 DOF spatial model

Keywords

position control; robot dynamics; robot kinematics; 2 DOF plane model; 6 DOF spatial model; adjustable link parameters; fixed linear type mechanism; link parameters; parallel mechanisms; workspace problem; Humans; Hydraulic actuators; Interference; Kinematics; Laboratories; Magnetic analysis; Magnetic resonance imaging; Medical robotics; Robotics and automation; Surgery;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on

Conference_Location

Takamatsu

Print_ISBN

0-7803-6348-5

Type

conf

DOI

10.1109/IROS.2000.894681

Filename

894681