Conceptual design and dimensional synthesis for a 3-DOF module of the invariant - A novel 5-DOF reconfigurable hybrid robot
UNSPECIFIED. (2005) Conceptual design and dimensional synthesis for a 3-DOF module of the invariant - A novel 5-DOF reconfigurable hybrid robot. IEEE TRANSACTIONS ON ROBOTICS, 21 (3). pp. 449-456. ISSN 1552-3098Full text not available from this repository.
Official URL: http://dx.doi.org/10.1109/TRO.2004.840908
This paper deals with the conceptual design and dimensional synthesis of a 3-DOF parallel mechanism module which forms the main body of a newly invented 5-DOF reconfigurable hybrid robot named "TriVariant." The TriVariant is a modified version of the Tricept robot, achieved by integrating one of the three active limbs into the passive limb. The idea leading to the innovation of the module is systematically addressed. Its kinematic performance is optimized by minimizing a global and comprehensive conditioning index subject to a set of appropriate mechanical constraints. It is concluded that the proposed hybrid system is more cost-effective and has a competitive kinematic performance in comparison with the well-known Tricept robot.
|Item Type:||Journal Article|
|Subjects:||T Technology > TJ Mechanical engineering and machinery|
|Journal or Publication Title:||IEEE TRANSACTIONS ON ROBOTICS|
|Publisher:||IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC|
|Number of Pages:||8|
|Page Range:||pp. 449-456|
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