Schoenflies-motion generators (SMGs) are 4-degrees-of-freedom (DOF) manipulators whose end effector can perform translations along three independent directions and rotations around one fixed direction (Schoenflies motions). Pick-and-place tasks are typical industrial applications that can be accomplished by these manipulators. In a previous paper, one of the authors proposed a novel single-loop not-overconstrained SMG of type PRRS-RRC with actuators on or near the base and decoupled kinematics, and presented its kinematic analysis. Here, its workspace analysis and its dimensional synthesis are addressed.

Workspace analysis and dimensional synthesis of the PRRS-RRC shoenflies-motion generator

Di Gregorio, R.
Co-primo
2018

Abstract

Schoenflies-motion generators (SMGs) are 4-degrees-of-freedom (DOF) manipulators whose end effector can perform translations along three independent directions and rotations around one fixed direction (Schoenflies motions). Pick-and-place tasks are typical industrial applications that can be accomplished by these manipulators. In a previous paper, one of the authors proposed a novel single-loop not-overconstrained SMG of type PRRS-RRC with actuators on or near the base and decoupled kinematics, and presented its kinematic analysis. Here, its workspace analysis and its dimensional synthesis are addressed.
2018
978-3-030-00364-7
978-3-030-00365-4
Dimensional synthesis, Parallel manipulators, Schoenflies subgroup, Workspace analysis
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11392/2395280
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