The design of redundant isotropic manipulators with special link parameters

Authors:
K. Y. Tsai;Z. W. Wang
Affiliations:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei (Taiwan) 10672;Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei (Taiwan) 10672
Venue:
Robotica
Year:
2005

Citing 2
Cited 4

Spatial robotic isotropy

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The design of isotropic manipulator architectures in the presence of redundancies

International Journal of Robotics Research

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

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6-dof parallel manipulators with better dexterity, rotatability, or singularity-free workspace

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Well-conditioned configurations of fault-tolerant manipulators

Robotics and Autonomous Systems
Optimal design of a class of generalized symmetric gough-stewart parallel manipulators with dynamic isotropy and singularity-free workspace

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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.