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

Se Han Lee; Jae Bok Song; Woo Chun Choi; Daehie Hong

doi:10.1109/ROBOT.2002.1014279

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

Se Han Lee, Jae Bok Song, Woo Chun Choi, Daehie Hong

Research output: Contribution to journal › Article › peer-review

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 language	English
Pages (from-to)	3666-3671
Number of pages	6
Journal	Proceedings-IEEE International Conference on Robotics and Automation
Volume	4
DOIs	https://doi.org/10.1109/ROBOT.2002.1014279
Publication status	Published - 2002

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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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.",

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AU - Lee, Se Han

AU - Song, Jae Bok

AU - Choi, Woo Chun

AU - Hong, Daehie

PY - 2002

Y1 - 2002

N2 - 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.

AB - 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.

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

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