Analysis and Design Criteria for a Redundantly Actuated 4-legged Six Degree-of-freedom Parallel Manipulator
- Title
- Analysis and Design Criteria for a Redundantly Actuated 4-legged Six Degree-of-freedom Parallel Manipulator
- Author
- 이병주
- Issue Date
- 2001-05
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Citation
- Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), v. 4, page. 3286-3293
- Abstract
- This work introduces a new architecture for a parallel, six degree of freedom manipulator. The kinematic analysis of this redundant manipulator is provided. The proposed parallel mechanism allows easy implementation of redundant actuators, and has relatively large workspace in comparison to conventional six degree of freedom parallel devices. The kinematic analysis performed forms the basis for the introduction of design criteria for the manipulator. Several design criteria are introduced and their use is illustrated by example design involving an initial geometric parameter analysis of the manipulator.
- URI
- https://ieeexplore.ieee.org/document/933125https://repository.hanyang.ac.kr/handle/20.500.11754/158555
- ISBN
- 0-7803-6576-3
- ISSN
- 1050-4729
- DOI
- 10.1109/ROBOT.2001.933125
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML