ICRA 2011 Paper Abstract


Paper WeA108.3

Isaksson, Mats (Deakin University)

A Family of Planar Parallel Manipulators

Scheduled for presentation during the Regular Sessions "Parallel Robots I" (WeA108), Wednesday, May 11, 2011, 08:50−09:05, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Parallel Robots, Kinematics, Redundant Robots


A family of planar parallel manipulators is investigated and some novel members are proposed. The common feature of the studied manipulators is that the rotation axes of the actuated arms coincide. This feature makes it possible to rotate the whole arm system an infinite number of revolutions around the center of the manipulator. The result is a large workspace in relation to the footprint. Both 2- and 3-DOF variants are presented and the suitability of this family of manipulators for kinematic analysis is demonstrated. Thus, different methods to find optimal manipulability with respect to platform positioning and rotation have been analyzed.



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