A prototype parallel manipulator: kinematics, construction, software, workspace results, and singularity analysis
- 10 December 2002
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 566-571 vol.1
- https://doi.org/10.1109/robot.1991.131641
Abstract
A prototype parallel link manipulator is described. The kinematics of a general parallel link manipulator are discussed. The hardware and software of the prototype manipulator are presented. Some symbolic kinematic results for the prototype are given, along with a discussion of how these results might be used. The workspace of the prototype is analyzed, both by simulation and experimentation. The singularity problem for parallel manipulators is discussed, and a singular configuration for the prototype is shown.<>Keywords
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