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Design and kinematic analysis of a rotary positioner

Published online by Cambridge University Press:  09 September 2006

Borys Shchokin  and
Farrokh Janabi-Sharifi
Borys Shchokin
Affiliation:
Robotics, Mechatronics, and Manufacturing Automation Laboratory, Department of Mechanical and Industrial Engineering, Ryerson University, 350 Victoria Street, Toronto, Ontario M5B 2K3, Canada. E-mail: fsharifi@ryerson.ca
Farrokh Janabi-Sharifi
Affiliation:
Robotics, Mechatronics, and Manufacturing Automation Laboratory, Department of Mechanical and Industrial Engineering, Ryerson University, 350 Victoria Street, Toronto, Ontario M5B 2K3, Canada. E-mail: fsharifi@ryerson.ca
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Abstract

A rotary positioner (RP) is a type of parallel manipulator that is similar to a Stewart Platform. Instead of having variable-length bars, however, an RP has constant-length limbs located between a mobile platform as well as six circular motors distributed on a circular base. This paper offers a detailed investigation of an RP, focusing on its mechanism and analyzing its forward and inverse kinematics. It also computes an RP's constant orientation and orientation workspaces, taking into account the constraints imposed by passive joints and links interference. The optimal combination of the main parameters for an RP's maximum possible translation and orientation is also provided.

Keywords

Parallel manipulatorKinematicsWorkspaceOptimizationParametrical synthesis
Type
Article
Information
Robotica , Volume 25 , Issue 1 , January 2007 , pp. 75 - 85
Copyright
2006 Cambridge University Press

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