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Design of parameters of parallel manipulators for a specified workspace

Published online by Cambridge University Press:  08 October 2003

Anna Kosinska ,
Miroslaw Galicki  and
Krzysztof Kedzior
Anna Kosinska
Affiliation:
Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics, ul.Nowowiejska 24, 00-665 Warsaw (Poland)
Miroslaw Galicki
Affiliation:
Technical University of Zielona Gora, Department of Organisation and Management, ul.Podgorna 50, 65-246 Zielona Gora (Poland)
Krzysztof Kedzior
Affiliation:
Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics, ul.Nowowiejska 24, 00-665 Warsaw (Poland)
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Summary

In this paper an algorithm for designing spatial parallel manipulator parameters for a given workspace has been presented. At the beginning, architecture has been chosen that describes a general parallel manipulator. The manipulator may possess any number of limbs, consisting of links connected by spherical, revolute or linear joints as well as actuators. The parameters, which will be determined, are the lengths of the links of kinematic chains, the coordinates of the fixing points of the chains to the platform and the base, and orientations of the revolute engines axes situated at the base. The workspace may be specified in the form of any shape in the space containing a set of points of known coordinates and the limits in which the geometrical parameters may vary. The algorithm does not determine the exact values of the parameters, but only their functions. It leads to the necessity for further research in order to optimise the solutions.

Keywords

Parallel manipulatorsKinematicsWorkspaceDesigning
Type
Research Article
Information
Robotica , Volume 21 , Issue 5 , October 2003 , pp. 575 - 579
Copyright
Copyright © Cambridge University Press 2003

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References

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