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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)
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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

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