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Busker Robot: A Robotic Painting System for Rendering Images into Watercolour Artworks Read chapter Read first chapter

2019 | OriginalPaper | Chapter

Type Synthesis of Kinematically Redundant Parallel Manipulators Based on the HEXA Parallel Robot

Authors : Raymundo Ramos Alvarado, Eduardo Castillo Castañeda

Published in: Mechanism Design for Robotics

Publisher: Springer International Publishing

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Abstract

Type synthesis is a key issue in the design process due to critical parameters which affects the mobility and performance of any kind of mechanism. In this paper, it is proposed structural synthesis of kinematically redundant parallel manipulators based on the HEXA parallel robot using graph theory and theory of linear transformations. The solutions proposed in this paper include a multilevel location of the actuated joints by means of a reconfigurable fixed base. The most suitable solution is selected taking into consideration the manipulator workspace.

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previous chapter Homogenization of the Jacobian Matrix of Manipulators by Using Inertial Parameters
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Metadata
Title
Type Synthesis of Kinematically Redundant Parallel Manipulators Based on the HEXA Parallel Robot
Authors
Raymundo Ramos Alvarado
Eduardo Castillo Castañeda
Copyright Year
2019
Book
Mechanism Design for Robotics

Print ISBN: 978-3-030-00364-7

Electronic ISBN: 978-3-030-00365-4

Copyright Year: 2019

DOI
https://doi.org/10.1007/978-3-030-00365-4_27