A new class of isotropic generators for developing 6-dof isotropic manipulators

  • Authors:

  • K. y. Tsai;T. k. Lee;Y. s. Jang

  • Affiliations:

  • Department of mechanical engineering, national taiwan university of science and technology, 43 keelung road, section 4, taipei, taiwan10672;Department of mechanical engineering, national taiwan university of science and technology, 43 keelung road, section 4, taipei, taiwan10672;Department of mechanical engineering, national taiwan university of science and technology, 43 keelung road, section 4, taipei, taiwan10672

  • Venue:
  • Robotica
  • Year:
  • 2008

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Abstract

Developing 6-DOF isotropic manipulators using isotropic generators is simple and efficient, and isotropic generators can be employed to develop serial, redundant, or parallel isotropic manipulators. An isotropic generator consists of a reference point and six straight lines. The existing generators, however, have one common geometric constraint: the reference point is equidistant from the six straight lines. Some practical isotropic designs might not be obtained due to this constraint. This paper proposes methods for developing new isotropic generators. The generators thus developed are not subject to the constraint, and the new methods allow us to specify the location of the tool center point, the size of the platform or the base, or the shape of isotropic parallel manipulators. Many new generators are presented to develop 6-DOF parallel manipulators with different shapes or different types of kinematic chains.