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Meccanica
Erschienen in: Meccanica 3/2020

18.02.2020

A Gough–Stewart parallel manipulator with configurable platform and multiple end-effectors

verfasst von: Jaime Gallardo-Alvarado

Erschienen in: Meccanica | Ausgabe 3/2020

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Abstract

This work describes a novel robot manipulator with configurable platform. Three internal degrees-of-freedom are added for controlling the relative orientation of the terminal links supporting multiple end-effectors of a Gough–Stewart-type parallel manipulator. The instantaneous forward and inverse kinematic analyses of the robot are derived using the theory of screws. Furthermore, the exploitation of this approach for deriving the acceleration analyses of a parallel manipulator with configurable platform is novel in this research field. As an intermediate step the forward and inverse displacement analyses are also investigated. A numerical example is compared with the outcome of a commercial software demonstrating the approach correctness.
Vorheriger Artikel Design optimization of a planar piezo-electric actuation stage for vibration control of rotating machinery

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Metadaten
Titel
A Gough–Stewart parallel manipulator with configurable platform and multiple end-effectors
verfasst von
Jaime Gallardo-Alvarado
Publikationsdatum
18.02.2020
Verlag
Springer Netherlands
Erschienen in
Meccanica / Ausgabe 3/2020
Print ISSN: 0025-6455
Elektronische ISSN: 1572-9648
DOI
https://doi.org/10.1007/s11012-020-01136-y

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