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The design of redundant isotropic manipulators with special link parameters

Published online by Cambridge University Press:  11 March 2005

K. Y. Tsai  and
Z. W. Wang
K. Y. Tsai
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei (Taiwan) 10672
Z. W. Wang
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei (Taiwan) 10672
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Abstract

This paper proposes a general method to develop n-DOF serial isotropic manipulators. The parameters of 6-DOF isotropy generators are used as the initial values in a numerical method to obtain redundant isotropic generators. Additional constraint equations are then added, with the parameters of the obtained generators as initial values, to obtain the isotropy generators with special parameters. Each generator can be developed into many isotropic designs with special or desired link parameters. Two different approaches for developing isotropic manipulators are also investigated.

Keywords

Isotropic manipulatorsLink parametersRedundancy
Type
Research Article
Information
Robotica , Volume 23 , Issue 2 , March 2005 , pp. 231 - 237
Copyright
© 2005 Cambridge University Press

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