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TECHNICAL PAPERS

Massively Parallel Binary Manipulators

[+] Author and Article Information
S. Mukherjee, S. Murlidhar

Dept. of Mechanical Engineering, IIT Delhi, N. Delhi, 110016 IndiaEmail: sudipto@mech.iitd.ernet.in

J. Mech. Des 123(1), 68-73 (Nov 01, 1999) (6 pages) doi:10.1115/1.1339198 History: Received November 01, 1999
Copyright © 2001 by ASME
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References

Stewart,  D., 1965, “A Platform With Six Degrees of Freedom,” Proc. Inst. Mech. Eng., 180, pp. 371–386.
Chirikjian,  G. S., 1995, “Kinematic Synthesis of Mechanisms and Robot Manipulators With Binary Actuators,” ASME J. Mech. Des., 117, pp. 573–579.
Hunt K. H., 1978, “Kinematic Geometry of Mechanisms,” Oxford University Press, Walton Street, Oxford ox2 6dp.
Collins., Curtis L., and Long., Gregory. L. 1995, “On the Duality of Twist/Wrench Distributions in Serial and Parallel Chain Robot Manipulators,” IEEE International Conference on Robotics and Automation, pp. 526–531.
Kumar,  V., 1992, “Instantaneous Kinematics of Parallel—Chain Robot Mechanisms,” ASME J. Mech. Des., 114, pp. 342–358.
Fichter,  E. F., 1986, “A Stewart Platform-Based Manipulator: General Theory and Practical Construction,” Int. J. Robot. Res., 5, No. 2, pp. 165–190.
Yoshikawa, Tsuneo, 1988, “Foundations of Robotics: Analysis and Control,” Eastern Economy Editions, Prentice Hall of India Pvt. Limited.

Figures

Grahic Jump Location
Two degree of freedom MPBS
Grahic Jump Location
Position of body before displacement
Grahic Jump Location
Position of body after displacement
Grahic Jump Location
Function curves for different S
Grahic Jump Location
Effect of n over accuracy

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