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CSME 2019/04
Volume 40 No.2
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99-108
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A General Method for Developing Different Types of 3-DOF and 6-DOF Isotropic Manipulators
Cheng-Kai Huanga
aDepartment of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan 10672, ROC.
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Abstract:
This paper first presents design parameters for developing six types of spatial 3-DOF isotropic parallel manipulators. Many manipulators that can simultaneously reach isotropic position and orientation can be easily obtained using optimization methods. An isotropic design can be developed in about ten seconds, and at least three dimensions can even be specified to obtain designs with desired shapes or sizes. The 3-DOF manipulators are then used as modules to develop 6-DOF or redundant isotropic manipulators. The modules or the modules and other serial or parallel designs can be joined in parallel or in series to create different types of 6-DOF, redundant or hybrid isotropic manipulators. Some dimensions of manipulators of higher degrees of freedom can also be given in the development process.
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Keywords: Parallel manipulator; 3-DOF; 6-DOF; Isotropic
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©
2019
CSME , ISSN 0257-9731
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