KINEMATIC ANALYSIS OF A 3-DEGREES-OF-FREEDOM IN-PARALLEL ACTUATED MANIPULATOR

被引：241

作者：

LEE, KM

SHAH, DK

机构：

[1] Georgia Inst of Technology, Atlanta,, GA, USA, Georgia Inst of Technology, Atlanta, GA, USA

来源：

IEEE JOURNAL OF ROBOTICS AND AUTOMATION | 1988年 / 4卷 / 03期

关键词：

Recently; some effort has been directed towards the investigation of alternative manipulator designs based on the concepts of closed kinematic chain due to the following advantages as compared to the traditional open kinematic chain manipulators: more rigidity and accuracy due to the lack of cantilever-like structure; high force/ torque capacity for the number of actuators as the actuators are Manuscript received October 13; 1986; revised June 8; 1987. The material in this communication was presented at the IEEE 1987 International Conference on Robotics and Automation; Raleigh; NC; March; 31-April; 3; 1987. This work was supported by the Georgia Institute of Technology under the general research fund and by the Computer Integrated Manufacturing Systems (CIMS) Program. The authors are with The George W. Woodruff School of Mechanical Engineering; Georgia Institute of Technology; Atlanta; GA 30332. IEEE Log Number 8718914;

D O I：

10.1109/56.796

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

引用

页码：354 / 360

页数：7

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