TY - JOUR
T1 - Design, analysis and construction of a prototype parallel link manipulator
AU - Arai, Tatsuo
AU - Cleary, Kevin
AU - Nakamura, Tatsuya
AU - Adachi, Hironori
AU - Homma, Keiko
N1 - Publisher Copyright:
© 1990 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.
PY - 1990
Y1 - 1990
N2 - This paper discusses characteristics, mechanism analysis, a design method and an overview of a prototype parallel link manipulator. An evaluation criteria is introduced by analyzing the manipulator statics using the singular value decomposition to realize a well balanced parallel mechanism. Based on this criteria a new configuration is proposed and the basic characteristics of a prototype manipulator are discussed.
AB - This paper discusses characteristics, mechanism analysis, a design method and an overview of a prototype parallel link manipulator. An evaluation criteria is introduced by analyzing the manipulator statics using the singular value decomposition to realize a well balanced parallel mechanism. Based on this criteria a new configuration is proposed and the basic characteristics of a prototype manipulator are discussed.
UR - http://www.scopus.com/inward/record.url?scp=84995098560&partnerID=8YFLogxK
U2 - 10.1109/IROS.1990.262388
DO - 10.1109/IROS.1990.262388
M3 - Conference article
AN - SCOPUS:84995098560
VL - 1990-July
SP - 205
EP - 212
JO - IEEE International Conference on Intelligent Robots and Systems
JF - IEEE International Conference on Intelligent Robots and Systems
M1 - 262388
T2 - 1990 IEEE International Workshop on Intelligent Robots and Systems, IROS 1990
Y2 - 3 July 1990 through 6 July 1990
ER -