Please use this identifier to cite or link to this item:
http://nopr.niscpr.res.in/handle/123456789/8425| Title: | Planar parallel manipulators: Structure based selection from the viewpoint of workspace |
| Authors: | Srinath, A Rao, A C |
| Issue Date: | Apr-2005 |
| Publisher: | CSIR |
| IPC Code: | B25J |
| Abstract: | It is known that serial manipulators generate greater workspace. Recent trend is to use planar parallel manipulators where heavy loads are to be handled. There are a large number of planar parallel structures available with the same number of links and degree of freedom (d.o.f.). However, there is no quantitative measure to estimate the parallelism present in a chain. Mathematical measures are proposed to estimate parallelism that exists in a chain, since it influences the rigidity and workspace. Also, formulae are suggested to get insight of the workspace generated, i.e., well conditioned or not. |
| Page(s): | 104-110 |
| ISSN: | 0975-1017 (Online); 0971-4588 (Print) |
| Appears in Collections: | IJEMS Vol.12(2) [April 2005] |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| IJEMS 12(2) 104-110.pdf | 156.24 kB | Adobe PDF | View/Open |
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