A comparison of the yaw constraining performance of SCARA-tau parallel manipulator variants via screw theory
| Autor: | Mats Isaksson, Anders Eriksson, Kristan Marlow, Torgny Brogardh |
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| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering business.industry SCARA Parallel manipulator 02 engineering and technology Linkage (mechanical) Kinematics Measure (mathematics) law.invention symbols.namesake 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering law Control theory Screw theory Jacobian matrix and determinant symbols Wrench business |
| Zdroj: | ICRA |
| Popis: | The SCARA-Tau parallel manipulator was derived with the objective to overcome the limited workspace-to-footprint ratio of the DELTA parallel manipulator while maintaining its many benefits. The SCARA-Tau family has later been extended and a large number of variants have been proposed. In this paper, we analyse four of these variants, which together encompass the main differences between all the proposed SCARA-Tau manipulators. The analysed manipulator variants utilise an identical arrangement of five of the six linkages connecting the actuated arms and the manipulated platform and exhibit the same input-output Jacobian. The normalised reciprocal product between the wrench of the sixth linkage and the twist of the platform occurring without this linkage provides a measure on how effectively the sixth linkage constrains the manipulated platform. A comparison of the manipulator variants with respect to this measure demonstrates each variants suitability for specific applications. |
| Databáze: | OpenAIRE |
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