Anjan Kumar Dash

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SUMMARY Instantaneous kinematics and singularity analysis of a class of three-legged, 6-DOF parallel manipulators are addressed in this paper. A generic method of derivation of reciprocal screw and consequently, the instantaneous kinematics model is presented. The advantage of this formulation is that the instantaneous kinematics model possesses(More)
A reconfigurable parallel manipulator system consists of an inventory of standard interchangeable actuator modules, passive joint modules, and customizable links and connectors. Due to the interchangeability and modularity, a parallel manipulator constructed in this manner can have different structures and degrees of freedom (DOF). This article presents a(More)
This paper presents a methodology for optimal design of 6-DOF modular parallel manipulators. In type synthesis, a general methodology is presented to choose a type of configuration using a look-up table. This table, constructed based on the experience and knowledge in the database, gives suitable robot configurations for different types of tasks. In(More)
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