Jacobian analysis of a macro-micro parallel manipulator
In this paper the Jacobian analysis of a macro- micro parallel manipulator is studied in detail. The manipulator architecture is a simplified planar version adopted from the structure of Large Adaptive Reflector (LAR), the Canadian design of next generation giant radio telescopes. This structure is...
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| creator | Taghirad, H.D. Nahon, M.A. |
| description | In this paper the Jacobian analysis of a macro- micro parallel manipulator is studied in detail. The manipulator architecture is a simplified planar version adopted from the structure of Large Adaptive Reflector (LAR), the Canadian design of next generation giant radio telescopes. This structure is composed of two parallel and redundantly actuated manipulators at macro and micro level, which both are cable- driven. The Jacobian matrices of the manipulator at macro and micro level are derived and a thorough singularity and sensitivity analysis of the system is presented. It is shown that due to the crossed cable structure used in the design, the macro micro manipulator experiences no singularity at the required workspace. |
| doi_str_mv | 10.1109/AIM.2007.4412419 |
| format | Conference Proceeding |
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It is shown that due to the crossed cable structure used in the design, the macro micro manipulator experiences no singularity at the required workspace.</description><subject>Antenna accessories</subject><subject>Councils</subject><subject>Jacobian Analysis</subject><subject>Jacobian matrices</subject><subject>macro-micro robot</subject><subject>Optical design</subject><subject>Packaging</subject><subject>Parallel manipulator</subject><subject>Radio astronomy</subject><subject>Receivers</subject><subject>redundancy</subject><subject>Reflector antennas</subject><subject>Singularity</subject><subject>Telescopes</subject><subject>Winches</subject><issn>2159-6247</issn><issn>2159-6255</issn><isbn>1424412633</isbn><isbn>9781424412631</isbn><isbn>9781424412648</isbn><isbn>1424412641</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2007</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo9kEtPwzAQhM1LopTckbjkDyTsem1vfKwqCkVFXHqvHNeRjJyHknLov6eIwmVGM580hxHiAaFEBPu0WL-XEoBLpVAqtBcis1yhkj_ZqOpSzCRqWxip9ZW4-wNE1_9A8a3IpukTABAqLSXNBL8539fRdbnrXDpOccr7Jnd56_zYF208aT640aUU0qns4vCV3KEf78VN49IUsrPPxXb1vF2-FpuPl_VysSmihUPBnpViBvRUmUY1hChZGzIMFhvylfHGBzIaKsPstQRJe69wH3QdSNc0F4-_szGEsBvG2LrxuDtfQN-6JkjQ</recordid><startdate>200709</startdate><enddate>200709</enddate><creator>Taghirad, H.D.</creator><creator>Nahon, M.A.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>200709</creationdate><title>Jacobian analysis of a macro-micro parallel manipulator</title><author>Taghirad, H.D. ; Nahon, M.A.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-7c7447701c386f4f3112756367091f3c86c6ce36508677c52023dc41de5be35b3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2007</creationdate><topic>Antenna accessories</topic><topic>Councils</topic><topic>Jacobian Analysis</topic><topic>Jacobian matrices</topic><topic>macro-micro robot</topic><topic>Optical design</topic><topic>Packaging</topic><topic>Parallel manipulator</topic><topic>Radio astronomy</topic><topic>Receivers</topic><topic>redundancy</topic><topic>Reflector antennas</topic><topic>Singularity</topic><topic>Telescopes</topic><topic>Winches</topic><toplevel>online_resources</toplevel><creatorcontrib>Taghirad, H.D.</creatorcontrib><creatorcontrib>Nahon, M.A.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Taghirad, H.D.</au><au>Nahon, M.A.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Jacobian analysis of a macro-micro parallel manipulator</atitle><btitle>2007 IEEE/ASME international conference on advanced intelligent mechatronics</btitle><stitle>AIM</stitle><date>2007-09</date><risdate>2007</risdate><spage>1</spage><epage>6</epage><pages>1-6</pages><issn>2159-6247</issn><eissn>2159-6255</eissn><isbn>1424412633</isbn><isbn>9781424412631</isbn><eisbn>9781424412648</eisbn><eisbn>1424412641</eisbn><abstract>In this paper the Jacobian analysis of a macro- micro parallel manipulator is studied in detail. The manipulator architecture is a simplified planar version adopted from the structure of Large Adaptive Reflector (LAR), the Canadian design of next generation giant radio telescopes. This structure is composed of two parallel and redundantly actuated manipulators at macro and micro level, which both are cable- driven. The Jacobian matrices of the manipulator at macro and micro level are derived and a thorough singularity and sensitivity analysis of the system is presented. It is shown that due to the crossed cable structure used in the design, the macro micro manipulator experiences no singularity at the required workspace.</abstract><pub>IEEE</pub><doi>10.1109/AIM.2007.4412419</doi><tpages>6</tpages></addata></record> |
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| language | eng |
| recordid | cdi_ieee_primary_4412419 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Antenna accessories Councils Jacobian Analysis Jacobian matrices macro-micro robot Optical design Packaging Parallel manipulator Radio astronomy Receivers redundancy Reflector antennas Singularity Telescopes Winches |
| title | Jacobian analysis of a macro-micro parallel manipulator |
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