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. (doi: 10.1017/S0263574799001794)
Full text not currently available from Enlighten.
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: | Articles |
|---|---|
| Status: | Published |
| Refereed: | Yes |
| 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 |
| Journal Name: | Robotica |
| Publisher: | Cambridge University Press |
| ISSN: | 0263-5747 |
University Staff: Request a correction | Enlighten Editors: Update this record
Deposit and Record Details
Deposit and Record Details