A Six-Dof Epicyclic-Parallel Manipulator
Identifieur interne : 001B78 ( Main/Exploration ); précédent : 001B77; suivant : 001B79A Six-Dof Epicyclic-Parallel Manipulator
Auteurs : Chao Chen [Malaisie] ; Thibault Gayral [France] ; Stéphane Caro [France] ; Damien Chablat [France] ; Guillaume Moroz [France] ; Sajeeva Abeywardena [Malaisie]Source :
- Journal of Mechanisms and Robotics [ 1942-4302 ] ; 2012-04-06.
English descriptors
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.
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Affiliations:
Links toward previous steps (curation, corpus...)
- to stream Hal, to step Corpus: 006A42
- to stream Hal, to step Curation: 006A42
- to stream Hal, to step Checkpoint: 001799
- to stream Main, to step Merge: 001C08
- to stream Main, to step Curation: 001B78
Le document en format XML
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CS 25233 - 54052 Nancy cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lorraine.fr/</ref></desc></org></tutelle><tutelle name="UMR7503" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="IdRef">02636817X</idno><idno type="ISNI">0000000122597504</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Nancy</settlement><settlement type="city">Metz</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Université de Lorraine</orgName></affiliation></author><author><name sortKey="Abeywardena, Sajeeva" sort="Abeywardena, Sajeeva" uniqKey="Abeywardena S" first="Sajeeva" last="Abeywardena">Sajeeva Abeywardena</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-31666" status="VALID"><orgName>Monash University</orgName><desc><address><addrLine>No. 2 Jalan Universiti, Bandar Sunway, Petaling Jaya - 46150 Selangor Darul Ehsan</addrLine><country key="MY"></country></address><ref type="url">http://www.monash.edu.au/</ref></desc><listRelation><relation active="#struct-300792" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-300792" type="direct"><org type="institution" xml:id="struct-300792" status="VALID"><orgName>Monash University</orgName><desc><address><addrLine>Melbourne</addrLine><country key="AU"></country></address></desc></org></tutelle></tutelles></hal:affiliation><country>Malaisie</country></affiliation></author></analytic><series><title level="j">Journal of Mechanisms and Robotics</title><idno type="ISSN">1942-4302</idno><imprint><date type="datePub">2012-04-06</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>epicyclic system</term><term>kinematics</term><term>parallel manipulator</term><term>workspace</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">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.</div></front></TEI><affiliations><list><country><li>France</li><li>Malaisie</li></country><region><li>Grand Est</li><li>Lorraine (région)</li></region><settlement><li>Metz</li><li>Nancy</li></settlement><orgName><li>Université de Lorraine</li></orgName></list><tree><country name="Malaisie"><noRegion><name sortKey="Chen, Chao" sort="Chen, Chao" uniqKey="Chen C" first="Chao" last="Chen">Chao Chen</name></noRegion><name sortKey="Abeywardena, Sajeeva" sort="Abeywardena, Sajeeva" uniqKey="Abeywardena S" first="Sajeeva" last="Abeywardena">Sajeeva Abeywardena</name></country><country name="France"><noRegion><name sortKey="Gayral, Thibault" sort="Gayral, Thibault" uniqKey="Gayral T" first="Thibault" last="Gayral">Thibault Gayral</name></noRegion><name sortKey="Caro, Stephane" sort="Caro, Stephane" uniqKey="Caro S" first="Stéphane" last="Caro">Stéphane Caro</name><name sortKey="Chablat, Damien" sort="Chablat, Damien" uniqKey="Chablat D" first="Damien" last="Chablat">Damien Chablat</name><name sortKey="Moroz, Guillaume" sort="Moroz, Guillaume" uniqKey="Moroz G" first="Guillaume" last="Moroz">Guillaume Moroz</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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