Novel 6-DOF parallel manipulator with large workspace

被引：35

作者：

Glozman, Daniel ^{[1
]}

Shoham, Moshe ^{[1
]}

机构：

[1] Technion Israel Inst Technol, Dept Mech Engn, Robot Lab, IL-32000 Haifa, Israel

来源：

ROBOTICA | 2009年 / 27卷

关键词：

Parallel manipulator; Workspace; RRRS; RRSR;

D O I：

10.1017/S0263574708005286

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The workspace of a parallel manipulator is usually smaller than the size of the robot itself. It is important to derive new structures that enjoy the advantages of parallel manipulators and also have a large workspace. In this paper we present two configurations of similar structures RRRS and RRSR with rotating links. The RRRS structure has a relatively large workspace-larger than the size of the robot itself-which is not common in parallel robots. The inverse and forward kinematics of the robots are presented. The workspaces of the robots are compared to similar and well-known structures, such as Eclipse, Alizade, Delta, and Hexa robots.

引用

页码：891 / 895

页数：5

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