Design, analysis and construction of a prototype parallel link manipulator

Tatsuo Arai; Kevin Cleary; Tatsuya Nakamura; Hironori Adachi; Keiko Homma

doi:10.1109/IROS.1990.262388

Design, analysis and construction of a prototype parallel link manipulator

Tatsuo Arai
, Kevin Cleary
, Tatsuya Nakamura
, Hironori Adachi
, Keiko Homma

National Institute of Advanced Industrial Science and Technology

Research output: Contribution to journal › Conference article › peer-review

37 Citations (Scopus)

Abstract

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.

Original language	English
Article number	262388
Pages (from-to)	205-212
Number of pages	8
Journal	IEEE International Conference on Intelligent Robots and Systems
Volume	1990-July
DOIs	https://doi.org/10.1109/IROS.1990.262388
Publication status	Published - 1990
Externally published	Yes
Event	1990 IEEE International Workshop on Intelligent Robots and Systems, IROS 1990 - Tsuchiura, Ibaraki, Japan Duration: 3 Jul 1990 → 6 Jul 1990

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10.1109/IROS.1990.262388

Cite this

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abstract = "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.",

author = "Tatsuo Arai and Kevin Cleary and Tatsuya Nakamura and Hironori Adachi and Keiko Homma",

note = "Publisher Copyright: {\textcopyright} 1990 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.; 1990 IEEE International Workshop on Intelligent Robots and Systems, IROS 1990 ; Conference date: 03-07-1990 Through 06-07-1990",

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AU - Arai, Tatsuo

AU - Cleary, Kevin

AU - Nakamura, Tatsuya

AU - Adachi, Hironori

AU - Homma, Keiko

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 - https://www.scopus.com/pages/publications/84995098560

U2 - 10.1109/IROS.1990.262388

DO - 10.1109/IROS.1990.262388

M3 - Conference article

AN - SCOPUS:84995098560

SN - 2153-0866

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 -

Design, analysis and construction of a prototype parallel link manipulator

Abstract

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