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Maximum velocity analysis of parallel manipulators

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2 Author(s)
Huynh, P. ; Dept. of Robotics, Autonomous Machinery Div., Ibaraki, Japan ; Arai, T.

In order to analyse the maximum velocity of parallel manipulators in operational space, a graphical method based on the analysis of the algebraic inequalities describing the constraints on the kinematics model is presented. We consider a general 6 d.o.f parallel manipulator and assume that all articular velocities are bounded by the same limit. The method is then applied to the conventional Stewart platform chosen as a reference and a new parallel manipulator for their performance comparisons. For these two parallel manipulators, respective formula of Jacobian matrix is also given

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997