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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Zhou, Hong Shehu, T. Alimi Ravindranath, Aravind Vepuri, Hareesh |
| Copyright Year | 2009 |
| Abstract | Double-cylinder parallel manipulators are closed-loop two-degree-of-freedom linkages. They are preferred to use because of their simplicity plus the common advantages of parallel manipulators such as high stiffness, load-bearing, operation speed and precision positioning. Like other parallel manipulators, the output motion of double-cylinder parallel manipulators is not as flexible as two-degree-of-freedom serial manipulators. The motion performance analysis plays a critical role for this type of parallel manipulator to be applied successfully. In this paper, the linkage feasibility conditions are established based on the transmission angle. When feasibility conditions are satisfied, there is no dead position during operation. The workspace is generated by using curve-enveloping theory. The singularity characteristics are analyzed within the workspace. The motion performance index contours within the workspace are produced using the condition number of the manipulator Jacobian matrix. The results of this paper provide guidelines to apply this type of parallel manipulator. |
| Starting Page | 67 |
| Ending Page | 73 |
| Page Count | 7 |
| File Format | |
| ISBN | 9780791843833 |
| DOI | 10.1115/IMECE2009-10542 |
| e-ISBN | 9780791838631 |
| Volume Number | Volume 10: Mechanical Systems and Control, Parts A and B |
| Conference Proceedings | ASME 2009 International Mechanical Engineering Congress and Exposition |
| Language | English |
| Publisher Date | 2009-11-13 |
| Publisher Place | Lake Buena Vista, Florida, USA |
| Access Restriction | Subscribed |
| Subject Keyword | Linkages Jacobian matrices Bearings Manipulators Stiffness Stress Cylinders |
| Content Type | Text |
| Resource Type | Article |
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