## Gorseclio. ‘%metric algorilbm for the computation of the constant-orimtation workspace and singularity surfaces of a special 6-RUS parallel manipulator,

- C.M
- P m . ASME 2002 Design Engineering Technical Con…
- 2002

@article{JanabiSharifi2004ARP, 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}, year={2004}, volume={4}, pages={3671-3677 Vol.4} }

- Published 2004 in IEEE International Conference on Robotics and…
DOI:10.1109/ROBOT.2004.1308829

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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