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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Narayanan, Madusudanan Sathia Chakravarty, Sourish Shah, Hrishi Venkat, N. Krovi |
| Copyright Year | 2010 |
| Abstract | This paper examines the symbolic kinematic modeling of a general 6-P-U-S (prismatic-universal-spherical) parallel kinematic manipulator (PKM). The base location of actuators has been previously shown to lead to: (i) reduction of the (motor) weight carried by the legs; (ii) elimination of the actuation transmission requirement (through intermediary joints as in the case of the Stewart-Gough platform); and (iii) most-importantly absorption of reaction-forces by the ground. We focus on using the symbolic equations to derive the conditions for type I and II singularities of this class of parallel manipulators. Based on these conditions, this system of equations is specialized to a specific configuration of the platform that has superior structural design and comparatively minimal singularities within its workspace. A series of studies were conducted to investigate the quality of workspace as well as estimate the actuation requirements for a unit payload carried over their workspace using the symbolic Jacobian model for this specialized configuration. |
| Sponsorship | Design Engineering Division and Computers in Engineering Division |
| Starting Page | 1456 |
| Ending Page | 1456.8 |
| File Format | |
| ISBN | 9780791844106 |
| DOI | 10.1115/DETC2010-28978 |
| e-ISBN | 9780791838815 |
| Volume Number | Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B |
| Conference Proceedings | ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2010-08-15 |
| Publisher Place | Montreal, Quebec, Canada |
| Access Restriction | Subscribed |
| Subject Keyword | Actuators Structural design Absorption Weight (mass) Kinematics Manipulators Motors Modeling Engines |
| Content Type | Text |
| Resource Type | Article |
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