The design of redundant isotropic manipulators with special link parameters

被引：6
|
作者：
Tsai, KY [1 ]
Wang, ZW [1 ]
机构：
[1] Natl Taiwan Univ Sci & Technol, Dept Mech Engn, Taipei 10672, Taiwan
来源：
ROBOTICA | 2005年 / 23卷
关键词：
isotropic manipulators; link parameters; redundancy;
D O I：
10.1017/S0263574704001080
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper proposes a general method to develop n-DOF serial isotropic manipulators. The parameters of 6-DOF isotropy generators are used as the initial values In a numerical method to obtain redundant isotropic generators. Additional constraint equations are then added, with the parameters of the obtained generators as initial values, to obtain the isotropy generators with special parameters. Each generator can be developed into many isotropic designs with special or desired link parameters. Two different approaches for developing isotropic manipulators are also investigated.
引用
收藏
页码：231 / 237
页数：7
相关论文
共 50 条
  • [1] Active isotropic compliance in redundant manipulators
    Matteo Verotti
    Pierangelo Masarati
    Marco Morandini
    Nicola P. Belfiore
    [J]. Multibody System Dynamics, 2020, 49 : 421 - 445
  • [2] Active isotropic compliance in redundant manipulators
    Verotti, Matteo
    Masarati, Pierangelo
    Morandini, Marco
    Belfiore, Nicola P.
    [J]. MULTIBODY SYSTEM DYNAMICS, 2020, 49 (04) : 421 - 445
  • [3] AN EVOLUTION STANDING ON THE DESIGN OF REDUNDANT MANIPULATORS
    DAVIDOR, Y
    GOLDBERG, Y
    [J]. LECTURE NOTES IN COMPUTER SCIENCE, 1991, 496 : 60 - 69
  • [4] Isotropic design of spatial parallel manipulators
    Fattah, A
    Ghasemi, AMH
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2002, 21 (09): : 811 - 824
  • [5] Closed form solutions applied to redundant serial link manipulators
    Kauschke, M
    [J]. MATHEMATICS AND COMPUTERS IN SIMULATION, 1996, 41 (5-6) : 509 - 516
  • [6] Isotropic design of tendon-driven manipulators
    Ou, YJ
    Tsai, LW
    [J]. JOURNAL OF MECHANICAL DESIGN, 1996, 118 (03) : 360 - 366
  • [7] Analysis on kinematics and statics of redundant parallel link manipulators with passive joints
    Imai, Yojiro
    Obinata, Goro
    Hase, Kazunori
    [J]. 2007 INTERNATIONAL SYMPOSIUM ON MICRO-NANO MECHATRONICS AND HUMAN SCIENCE, VOLS 1 AND 2, 2007, : 472 - 477
  • [8] Design of compliant motion controllers for kinematically redundant manipulators
    Park, J
    Chung, WK
    Youm, Y
    [J]. 1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4, 1996, : 3538 - 3544
  • [9] DEXTERITY MEASURES FOR THE DESIGN AND CONTROL OF KINEMATICALLY REDUNDANT MANIPULATORS
    KLEIN, CA
    BLAHO, BE
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1987, 6 (02): : 72 - 83
  • [10] Base parameters for manipulators with a planar parallelogram link mechanism
    Yoshida, K
    Mayeda, H
    Ono, T
    [J]. ADVANCED ROBOTICS, 1996, 10 (01) : 105 - 137
12345