Workspace and force-moment transmission of a variable arm type parallel manipulator

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

Kinematic and dynamic characteristics of Stewart platform based parallel manipulators are fixed once they are constructed. Thus parallel manipulators with various configurations are required to meet a variety of applications. In this research a variable arm type parallel manipulator (VAPM) has been developed, in which the length of the arm linking the platform center to the platform-leg contact point can be varied by the actuator. Workspace of the VAPM is larger than that of a traditional Stewart platform and especially the range in which the maximum orientation angles can be maintained is significantly expanded. Furthermore, the characteristics of force and moment transmission between the legs and platform can be adjusted to meet the requirements of various tasks. Kinematic and dynamics analysis was performed to verify the usefulness of the VAPM and the actual hardware was built to demonstrate the feasibility.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3666-3671
Number of pages6
Volume4
Publication statusPublished - 2002
Event2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
Duration: 2002 May 112002 May 15

Other

Other2002 IEEE International Conference on Robotics and Automation
CountryUnited States
CityWashington, DC
Period02/5/1102/5/15

Fingerprint

Manipulators
Kinematics
Point contacts
Dynamic analysis
Actuators
Hardware

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Lee, S. H., Song, J-B., Choi, W. C., & Hong, D. (2002). Workspace and force-moment transmission of a variable arm type parallel manipulator. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 4, pp. 3666-3671)

Workspace and force-moment transmission of a variable arm type parallel manipulator. / Lee, Se Han; Song, Jae-Bok; Choi, Woo Chun; Hong, Daehie.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4 2002. p. 3666-3671.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Lee, SH, Song, J-B, Choi, WC & Hong, D 2002, Workspace and force-moment transmission of a variable arm type parallel manipulator. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 4, pp. 3666-3671, 2002 IEEE International Conference on Robotics and Automation, Washington, DC, United States, 02/5/11.
Lee SH, Song J-B, Choi WC, Hong D. Workspace and force-moment transmission of a variable arm type parallel manipulator. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4. 2002. p. 3666-3671
Lee, Se Han ; Song, Jae-Bok ; Choi, Woo Chun ; Hong, Daehie. / Workspace and force-moment transmission of a variable arm type parallel manipulator. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4 2002. pp. 3666-3671
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