Design, analysis and construction of a prototype parallel link manipulator

作者：Tatsuo Arai, K. Cleary, Taro Nakamura, H. Adachi, Keiko Homma · 年份：2002 · DOI：10.1109/iros.1990.262388 · 被引用次数：53 · 研究领域：Robotic Mechanisms and Dynamics、Piezoelectric Actuators and Control、Robot Manipulation and Learning

The paper discusses characteristics mechanism analysis, a design method and an overview of a prototype parallel link manipulator. An evaluation criteria is introduced by analyzing the manipulator statics using the singular value decomposition to realize a well balanced parallel mechanism. Based on this criteria a new configuration is proposed and the basic characteristics of a prototype manipulator are discussed.>