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

科研成果: 期刊稿件 › 会议文章 › 同行评审

37 引用（Scopus）

摘要

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.

源语言	英语
文章编号	262388
页（从-至）	205-212
页数	8
期刊	IEEE International Conference on Intelligent Robots and Systems
卷	1990-July
DOI	https://doi.org/10.1109/IROS.1990.262388
出版状态	已出版 - 1990
已对外发布	是
活动	1990 IEEE International Workshop on Intelligent Robots and Systems, IROS 1990 - Tsuchiura, Ibaraki, 日本期限: 3 7月 1990 → 6 7月 1990

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10.1109/IROS.1990.262388

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

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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

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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

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