A Six Degree of Freedom Epicyclic-Parallel Manipulator-Reference-Cited by-同舟云学术

A Six Degree of Freedom Epicyclic-Parallel Manipulator

Published:2012-09-17 Issue:4 Volume:4 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Chen Chao¹,Gayral Thibault²,Caro Stéphane³,Chablat Damien³,Moroz Guillaume³,Abeywardena Sajeeva⁴

Affiliation:

1. Department of Mechanical and Aerospace Engineering, Monash University, Wellington Road, Clayton, 3800, Victoria, Australia

2. Department of Mechanical and Aerospace Engineering, Monash University,Wellington Road, Clayton, 3800, Victoria, Australia; Institut de Recherche en Communications et Cybernétique de Nantes, 1, rue de la noëBP 92101, 44321 NANTES CEDEX 3

3. Institut de Recherche en Communications et Cybernétique de Nantes, 1, rue de la noë, BP 92101, 44321 NANTES CEDEX 3

4. Department of Mechanical and Aerospace Engineering, Monash University, Wellington Road, Clayton, 3800,Victoria, Australia

Abstract

Abstract A new six-dof epicyclic-parallel manipulator with all actuators allocated on the ground is introduced. It is shown that the system has a considerably simple kinematics relationship, with the complete direct and inverse kinematics analysis provided. Further, the first and second links of each leg can be driven independently by two motors. The serial and parallel singularities of the system are determined, with an interesting feature of the system being that the parallel singularity is independent of the position of the end-effector. The workspace of the manipulator is also analyzed with future applications in haptics in mind.

Publisher

ASME International

Subject

Mechanical Engineering

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/doi/10.1115/1.4007489/6623285/041011_1.pdf

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