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Atia, K.R., and Cartmell, M.P. (1999) A general dynamic model for a large-scale 2-DOF planar parallel manipulator. Robotica, 17 (6). pp. 675-683. ISSN 0263-5747 (doi:10.1017/S0263574799001794 )
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Abstract
In this work a new concept of designing two degree of freedom(2-DOF) planar parallel manipulators (PPMs) is presented. With this design the manipulator's workspace can be increased by increasing the number of cells in the manipulator. A general dynamic model is formulated for the manipulator with any number of cells. The model is adapted for SCARA and ADEPT configurations, and a new approach for balancing these type of manipulators is proposed.
| Item Type: | Article |
|---|---|
| Status: | Published |
| Refereed: | Yes |
| Glasgow Author(s): | Cartmell, Prof Matthew |
| Authors: | Atia, K.R., and Cartmell, M.P. |
| College/School: | College of Science and Engineering > School of Engineering > Systems Power and Energy |
| Journal Name: | Robotica |
| Publisher: | Cambridge University Press |
| ISSN: | 0263-5747 |
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