Hostname: page-component-78c5997874-s2hrs Total loading time: 0 Render date: 2024-11-10T19:46:49.943Z Has data issue: false hasContentIssue false
  • English
  • Français

A general dynamic model for a large-scale 2-DOF planar parallel manipulator

Published online by Cambridge University Press:  01 November 1999

Khaled R. Atia  and
M.P. Cartmell
Khaled R. Atia
Affiliation:
Department of Mechanical Engineering, University of Glasgow, Glasgow, Scotland G12 8QQ (UK)
M.P. Cartmell
Affiliation:
Department of Mechanical Engineering, University of Glasgow, Glasgow, Scotland G12 8QQ (UK)
Get access Rights & Permissions [Opens in a new window]

Abstract

In this work a new concept of designing two degree of freedom (2-DOF) planar parallel manipulators (PPMs) is presented. With this design the manipulator's workspace can be increased by increasing the number of cells in the manipulator. A general dynamic model is formulated for the manipulator with any number of cells. The model is adapted for SCARA and ADEPT configurations, and a new approach for balancing these type of manipulators is proposed.

Keywords

Multi-Cell robotsPlanar parallel manipulatorsJunctionsCellsCross-Links
Type
Research Article
Information
Robotica , Volume 17 , Issue 6 , November 1999 , pp. 675 - 683
Copyright
© 1999 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)