A rotary parallel manipulator: modeling and workspace analysis

  title={A rotary parallel manipulator: modeling and workspace analysis},
  author={Farrokh Janabi-Sharifi and Borys Shchokin},
  journal={IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004},
  pages={3671-3677 Vol.4}
In this paper, a class of parallel manipulators known as Rotary Positioners (RP) will be analyzed. A Rotary Positioner is actuated by six circular motors on the circular base and does not involve any prismatic joint. Therefore, it has constant length limbs. A model of an RP is presented. The constraints related to passive joints and links interference are formulated and the workspace of a normalized RP is computed accordingly. The optimal combination of the main parameters for maximizing the… CONTINUE READING
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