Jacobian and Stiffness Analysis of a Novel Class of Six-DOF Parallel Minimanipulators

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dc.contributor.authorTahmasebi, F.en_US
dc.contributor.authorTsai, L-W.en_US
dc.contributor.departmentISRen_US
dc.date.accessioned2007-05-23T09:51:20Z
dc.date.available2007-05-23T09:51:20Z
dc.date.issued1992en_US
dc.description.abstractThe Jacobian and stiffness matrices of two types of novel, six- DOF parallel minimanipulators are derived. A minimanipulator consists of three inextensible limbs, each of which is driven by a two-DOF driver. Bilinear stepper motors are used as drivers in the first type minimanipulator, whereas five-bar linkages are used as drivers in the second type minimanipulator. all of the minimanipulator actuators are base-mounted. Inextensible limbs (and five-bar linkage drivers in the second type minimanipulator) improve positional resolution and stiffness of the minimanipulators in certain directions. It is shown that, at the central configuration, the stiffness matrix of the first type minimanipulator can be diagonalized (decoupled). It is also shown that the first type minimanipulator can be designed to posses direct or torsional isotropic stiffness properties. Moreover, guidelines for designing the drivers of the second type minimanipulator are established.en_US
dc.format.extent538095 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/5265
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1992-84en_US
dc.subjectkinematicsen_US
dc.subjectroboticsen_US
dc.subjectIntelligent Servomechanismsen_US
dc.titleJacobian and Stiffness Analysis of a Novel Class of Six-DOF Parallel Minimanipulatorsen_US
dc.typeTechnical Reporten_US

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