3 research outputs found
The Octahedral Hexarot - a novel 6-DOF parallel manipulator
A novel 6-DOF parallel kinematic manipulator named the Octahedral Hexarot is presented and analyzed. It is shown that this manipulator has the important benefits of combining a large positional workspace in relation to its footprint with a sizable range of platform rotations. These features are obtained by combining a rotation-symmetric actuating arm system with links in an octahedral-like configuration. Thus the manipulator consists of a central cylindrical column with six actuated rotating upper arms that can rotate indefinitely around the central column. Each upper arm is connected to a manipulated platform by one 5-DOF lower arm link. The link arrangement of the Octahedral Hexarot is inspired by the original Gough platform. The manipulated platform is an equilateral triangle and the joint positions on the upper arms approximately form an equilateral triangle. A task dependent optimization procedure for the structural parameters is proposed and the workspace of the resulting manipulator is analyzed in depth.<br /
Manipulator Performance Measures - A Comprehensive Literature Survey
Due to copyright restrictions of the publisher this item is embargoed and access to the file is restricted until a year after the publishing date.The final publication is available at www.springerlink.comPerformance measures are quintessential to the design, synthesis, study and
application of robotic manipulators. Numerous performance measures have been
defined to study the performance and behavior of manipulators since the early days of
robotics; some more widely accepted than others, but their real significance and
limitations have not always been well understood. The aim of this survey is to review
the definition, classification, scope, and limitations of some of the widely used
performance measures. This work provides an extensive bibliography that can be of
help to researchers interested in studying and evaluating the performance and
behavior of robotic manipulators. Finally, a few recommendations are proposed based
on the review so that the most commonly noticed limitations can be avoided when new
performance measures are proposed.http://link.springer.com/article/10.1007/s10846-014-0024-y