Abstract
A prototype parallel link manipulator is described. The kinematics of a general parallel link manipulator are discussed. The hardware and software of the prototype manipulator are presented. Some symbolic kinematic results for the prototype are given, along with a discussion of how these results might be used. The workspace of the prototype is analyzed, both by simulation and experimentation. The singularity problem for parallel manipulators is discussed, and a singular configuration for the prototype is shown.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Publisher | Publ by IEEE |
| Pages | 566-571 |
| Number of pages | 6 |
| ISBN (Print) | 081862163X |
| Publication status | Published - 1991 |
| Externally published | Yes |
| Event | Proceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA Duration: 9 Apr 1991 → 11 Apr 1991 |
Publication series
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
|---|---|
| Volume | 1 |
Conference
| Conference | Proceedings of the 1991 IEEE International Conference on Robotics and Automation |
|---|---|
| City | Sacramento, CA, USA |
| Period | 9/04/91 → 11/04/91 |
Fingerprint
Dive into the research topics of 'A prototype parallel manipulator: Kinematics, construction, software, workspace results, and singularity analysis'. Together they form a unique fingerprint.Cite this
Cleary, K., & Arai, T. (1991). A prototype parallel manipulator: Kinematics, construction, software, workspace results, and singularity analysis. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 566-571). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 1). Publ by IEEE.