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A general dynamic model for a large-scale 2-DOF planar parallel manipulator

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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