A Novel 4 DoFs (3T-1R) Parallel Manipulator with Actuation Redundancy - Workspace Analysis
Résumé
This paper presents a novel 4 dofs (3T-1R) parallel actuatedly redundant mechanism and its workspace analysis, based on a performance index involving velocity and force capabilities. The robot is capable of performing a half-turn about the z axis. Moreover, having all of its prismatic actuators along one direction; the x motion is independent- only limited by the stroke of the prismatic actuators. The mechanism is characterized by elevated dynamical capabilities having its actuators at base.
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SamahSHAYYA-A_Novel_4_DoFs_3T-1R_Parallel_Manipulator_with_Actuation_Redundancy_Workspace_Analysis_v3.pdf (507 Ko)
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