| contributor author | Chao Chen | |
| contributor author | Thibault Gayral | |
| contributor author | Stéphane Caro | |
| contributor author | Sajeeva Abeywardena | |
| contributor author | Damien Chablat | |
| contributor author | Guillaume Moroz | |
| date accessioned | 2017-05-09T00:53:23Z | |
| date available | 2017-05-09T00:53:23Z | |
| date copyright | November, 2012 | |
| date issued | 2012 | |
| identifier issn | 1942-4302 | |
| identifier other | JMROA6-926067#041011_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/149857 | |
| description abstract | A new six-dof epicyclic-parallel manipulator with all actuators allocated on the ground is introduced. It is shown that the system has a considerably simple kinematics relationship, with the complete direct and inverse kinematics analysis provided. Further, the first and second links of each leg can be driven independently by two motors. The serial and parallel singularities of the system are determined, with an interesting feature of the system being that the parallel singularity is independent of the position of the end-effector. The workspace of the manipulator is also analyzed with future applications in haptics in mind. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Six Degree of Freedom Epicyclic-Parallel Manipulator | |
| type | Journal Paper | |
| journal volume | 4 | |
| journal issue | 4 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4007489 | |
| journal fristpage | 41011 | |
| identifier eissn | 1942-4310 | |
| keywords | Kinematics | |
| keywords | End effectors | |
| keywords | Manipulators | |
| keywords | Degrees of freedom AND Actuators | |
| tree | Journal of Mechanisms and Robotics:;2012:;volume( 004 ):;issue: 004 | |
| contenttype | Fulltext | |
