Title :
Development of a redundant robot manipulator based on three DOF parallel platforms
Author :
Mingyang, Zhao ; Tong, Gui ; Ge, Chao ; Qunming, Li ; Dalong, Tan
Author_Institution :
Inst. of Autom., Acad. Sinica, Shenyang, China
Abstract :
In this paper, a ten degrees of freedom (DOF) redundant robot manipulator based on three DOF parallel platforms is introduced. The main contents of the paper include configuration, kinematics, mechanical design and control system. The new robot is a hybrid serial system which is composed of a slide pair and three sections of three DOF parallel platforms. The system is driven by hydraulic cylinders and controlled by electric-hydraulic servo valves and STD Bus. It can sweep large workspace and be used for the operations inside of a large container
Keywords :
manipulator kinematics; redundancy; STD Bus; configuration; control system; electric-hydraulic servo valves; hydraulic cylinders; kinematics; mechanical design; redundant robot manipulator development; slide pair; three DOF parallel platforms; Chaos; Couplings; Graphical user interfaces; Joining processes; Kinematics; Manipulator dynamics; Parallel robots; Robotics and automation; Servomechanisms; Valves;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525289
