Please use this identifier to cite or link to this item:
|Title:||Planar parallel manipulators: Structure based selection from the viewpoint of workspace|
Rao, A C
|Abstract:||It is known that serial manipulators generate greater workspace. Recent trend is to use planar parallel manipulators where heavy loads are to be handled. There are a large number of planar parallel structures available with the same number of links and degree of freedom (d.o.f.). However, there is no quantitative measure to estimate the parallelism present in a chain. Mathematical measures are proposed to estimate parallelism that exists in a chain, since it influences the rigidity and workspace. Also, formulae are suggested to get insight of the workspace generated, i.e., well conditioned or not.|
|ISSN:||0975-1017 (Online); 0971-4588 (Print)|
|Appears in Collections:||IJEMS Vol.12(2) [April 2005]|
Items in NOPR are protected by copyright, with all rights reserved, unless otherwise indicated.