Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
800078 | Mechanism and Machine Theory | 2008 | 12 Pages |
Abstract
Methods for developing manipulators to reach maximum number of isotropic positions are presented in this paper. The spatial 4R manipulators are directly obtained from 3R planar manipulators, and the 2-DOF 5R planar parallel manipulators are developed from four-bar mechanisms. In addition, a general method is proposed for developing other types of manipulators. Criteria for determining the number of solutions of nth degree polynomials are presented to facilitate the searching process.
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Authors
K.Y. Tsai, P.Y. Lin, T.K. Lee,