Maximization of Workspace Volume of 3-DOF Spatial Parallel ManipulatorsSource: Journal of Mechanical Design:;2002:;volume( 124 ):;issue: 002::page 347Author:Karol Miller
DOI: 10.1115/1.1462621Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this work we investigate the influence of motor axes orientation on the workspace volume of 3-DOF manipulators, showing that the Delta configuration is not optimal. The configuration characterized by α=ArcTan(1/(√2))≈35.26°—the inclination of each motor axis to the horizontal plane (for the Delta robot α=0°), and β=60°—the rotation of each motor with respect to the vertical axis (for the Delta robot β=0°), known as the New University of Western Australia Robot (NUWAR) is shown to be advantageous over the Delta configuration in terms of workspace volume and shape. These results led to the construction of a prototype and an Australian Patent application.
keyword(s): Engines , Robots , Engineering prototypes , Manipulators AND Shapes ,
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| contributor author | Karol Miller | |
| date accessioned | 2017-05-09T00:08:15Z | |
| date available | 2017-05-09T00:08:15Z | |
| date copyright | June, 2002 | |
| date issued | 2002 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27720#347_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/127219 | |
| description abstract | In this work we investigate the influence of motor axes orientation on the workspace volume of 3-DOF manipulators, showing that the Delta configuration is not optimal. The configuration characterized by α=ArcTan(1/(√2))≈35.26°—the inclination of each motor axis to the horizontal plane (for the Delta robot α=0°), and β=60°—the rotation of each motor with respect to the vertical axis (for the Delta robot β=0°), known as the New University of Western Australia Robot (NUWAR) is shown to be advantageous over the Delta configuration in terms of workspace volume and shape. These results led to the construction of a prototype and an Australian Patent application. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Maximization of Workspace Volume of 3-DOF Spatial Parallel Manipulators | |
| type | Journal Paper | |
| journal volume | 124 | |
| journal issue | 2 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.1462621 | |
| journal fristpage | 347 | |
| journal lastpage | 350 | |
| identifier eissn | 1528-9001 | |
| keywords | Engines | |
| keywords | Robots | |
| keywords | Engineering prototypes | |
| keywords | Manipulators AND Shapes | |
| tree | Journal of Mechanical Design:;2002:;volume( 124 ):;issue: 002 | |
| contenttype | Fulltext |