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A new class of isotropic generators for developing 6-DOF isotropic manipulators

Published online by Cambridge University Press:  01 September 2008

K. Y. Tsai ,
T. K. Lee  and
Y. S. Jang
K. Y. Tsai*
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei, Taiwan10672
T. K. Lee
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei, Taiwan10672
Y. S. Jang
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei, Taiwan10672
*
*Corresponding author: E-mail: kytsai@mail.ntust.edu.tw
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Summary

Developing 6-DOF isotropic manipulators using isotropic generators is simple and efficient, and isotropic generators can be employed to develop serial, redundant, or parallel isotropic manipulators. An isotropic generator consists of a reference point and six straight lines. The existing generators, however, have one common geometric constraint: the reference point is equidistant from the six straight lines. Some practical isotropic designs might not be obtained due to this constraint. This paper proposes methods for developing new isotropic generators. The generators thus developed are not subject to the constraint, and the new methods allow us to specify the location of the tool center point, the size of the platform or the base, or the shape of isotropic parallel manipulators. Many new generators are presented to develop 6-DOF parallel manipulators with different shapes or different types of kinematic chains.

Keywords

6-DOF parallel manipulatorOptimum designDexterityIsotropic generator
Type
Article
Information
Robotica , Volume 26 , Issue 5 , September 2008 , pp. 619 - 625
Copyright
Copyright © Cambridge University Press 2008

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