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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.
|Glasgow Author(s) Enlighten ID:||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|
|Publisher:||Cambridge University Press|