Workspace analysis of the ParaDex robot-a novel, closed-chain, kinematically-redundant manipulator

Workspace analysis of the ParaDex robot-a novel, closed-chain, kinematically-redundant manipulator

Workspace analysis of a novel manipulator design is presented. The manipulator is a closed-chain design offering high payload, high stiffness and low inertia, but at the expense of limited workspace. A 7 degree-of-freedom is incorporated to help expand the reachable workspace. It is shown that the r...

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Hauptverfasser: Wang, Y., Newman, W.S., Stoughton, R.S.
Format: Tagungsbericht
Sprache:eng
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Algorithm design and analysis
Hydraulic actuators
Joining processes
Kinematics
Manipulators
Manufacturing
Micromotors
Prototypes
Robotic assembly
Robots
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Newman, W.S.
Stoughton, R.S.
description Workspace analysis of a novel manipulator design is presented. The manipulator is a closed-chain design offering high payload, high stiffness and low inertia, but at the expense of limited workspace. A 7 degree-of-freedom is incorporated to help expand the reachable workspace. It is shown that the resulting workspace is complex, but manageable. Methods for fast constraint detection are presented, and techniques for optimizing use of the kinematic redundancy are explained. The result is sufficiently efficient to enable online planning and collision avoidance.
doi_str_mv 10.1109/ROBOT.2000.846385
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source IEEE Electronic Library (IEL) Conference Proceedings
subjects Algorithm design and analysis
Hydraulic actuators
Joining processes
Kinematics
Manipulators
Manufacturing
Micromotors
Prototypes
Robotic assembly
Robots
title Workspace analysis of the ParaDex robot-a novel, closed-chain, kinematically-redundant manipulator
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