Local rolling and tilting capability analysis of fully parallel linear actuated platform-type manipulators

Authors: Wang, Li-Chun T.¹; Oen, Ka-Tjun²

Source: Advanced Robotics, Volume 21, Number 8, 2007 , pp. 931-960(30)

Buy & download fulltext article:

Price: $35.00 plus tax (Refund Policy)

Abstract:

Two problems associated with the local rotatability of two types of fully parallel linearly actuated platform manipulators are investigated in this paper. The first problem is to find the physically allowable region that the movable platform can be freely rolled about any given direction at any specified position. The second problem is to evaluate the maximum angle that the movable platform can be tilted about any given position and orientation. The kinematic constraints involved in these problems are the stroke limitation of the linear actuators, the motion constraints of the passive spherical and universal joints, and the interference condition between the supporting limbs. A unified and computationally efficient approach for solving these problems which takes into account all of the kinematic constraints is developed.

Keywords: PARALLEL ROBOT; ROLLING CAPABILITY; TILTING CAPABILITY; COMPUTATIONAL ALGORITHM

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156855307780851966

Affiliations: 1: Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei 106, Taiwan, ROC 2: Department of Mechanical Engineering, Technology and Science Institute of Northern Taiwan, Taipei 112, Taiwan, ROC

Publication date: 2007-08-01