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Novel 6-DOF parallel manipulator with large workspace

Published online by Cambridge University Press:  25 March 2009

Daniel Glozman  and
Moshe Shoham
Daniel Glozman*
Affiliation:
Robotics Laboratory, Department of Mechanical Engineering, Technion – Israel Institute of Technology, Haifa 32000, Israel
Moshe Shoham
Affiliation:
Robotics Laboratory, Department of Mechanical Engineering, Technion – Israel Institute of Technology, Haifa 32000, Israel
*
*Corresponding author. E-mail: glozmand@technion.ac.il
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Summary

The workspace of a parallel manipulator is usually smaller than the size of the robot itself. It is important to derive new structures that enjoy the advantages of parallel manipulators and also have a large workspace. In this paper we present two configurations of similar structures RRRS and RRSR with rotating links. The RRRS structure has a relatively large workspace—larger than the size of the robot itself—which is not common in parallel robots. The inverse and forward kinematics of the robots are presented. The workspaces of the robots are compared to similar and well-known structures, such as Eclipse, Alizade, Delta, and Hexa robots.

Keywords

Parallel manipulatorWorkspaceRRRSRRSR
Type
Article
Information
Robotica , Volume 27 , Issue 6 , October 2009 , pp. 891 - 895
Copyright
Copyright © Cambridge University Press 2009

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