Para-arm: singularity perturbed design of a planar 2 DOF parallel manipulator

D. N. Nenchev; M. Uchiyama

Para-arm: singularity perturbed design of a planar 2 DOF parallel manipulator

D. N. Nenchev, M. Uchiyama

研究成果: Paper › 査読

抄録

We propose a new singularity-perturbed design approach to a planar five bar parallel-link manipulator. The design allows us to operate the manipulator either in parallel or in serial branch mode, and also to exchange those modes. Thus, it is possible to merge some of the well-known advantages of serial and parallel manipulators. We study two basic singularity-perturbed designs and show that one of them is preferable. A feasibility study through computer simulation, including maximum torque requirement, is also presented.

本文言語	English
ページ	1234-1240
ページ数	7
出版ステータス	Published - 1996
イベント	Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn 継続期間: 1996 11月 4 → 1996 11月 8

Other

Other	Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3)
City	Osaka, Jpn
Period	96/11/4 → 96/11/8

ASJC Scopus subject areas

制御およびシステム工学
ソフトウェア
コンピュータビジョンおよびパターン認識
コンピュータサイエンスの応用

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引用スタイル

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Para-arm: singularity perturbed design of a planar 2 DOF parallel manipulator

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