The Library
Conceptual design and dimensional synthesis for a 3-DOF module of the invariant - A novel 5-DOF reconfigurable hybrid robot
Tools
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. doi:10.1109/TRO.2004.840908 ISSN 1552-3098.
Research output not available from this repository.
Request-a-Copy directly from author or use local Library Get it For Me service.
Official URL: http://dx.doi.org/10.1109/TRO.2004.840908
Abstract
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 | ||||
ISSN: | 1552-3098 | ||||
Official Date: | June 2005 | ||||
Dates: |
|
||||
Volume: | 21 | ||||
Number: | 3 | ||||
Number of Pages: | 8 | ||||
Page Range: | pp. 449-456 | ||||
DOI: | 10.1109/TRO.2004.840908 | ||||
Publication Status: | Published |
Data sourced from Thomson Reuters' Web of Knowledge
Request changes or add full text files to a record
Repository staff actions (login required)
View Item |