Cart (Loading....) | Create Account
Close category search window
 

Workspace-oriented methodology for designing a parallel manipulator

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Merlet, J.-P. ; Inst. Nat. de Recherche en Inf. et Autom., Sophia-Antipolis, France

Presents a method for designing optimal parallel manipulators of the Gough platform type, according to design constraints like a specified workspace, best accuracy over the workspace, minimum articular forces for a given load, etc. A reduced set of design parameters is defined and the workspace constraints are used to compute the zone of the parameters space which define all the robots whose workspace include the desired workspace. Then a numerical search is performed in this zone to determine the robot which optimize some other criterion. The author shows how the method has been used to design a robot whose accuracy was specified to be better than 1 μm for a nominal load of 500 kg

Published in:

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference:

22-28 Apr 1996

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.