Maximization of Workspace Volume of 3-DOF Spatial Parallel Manipulators

[+] Author and Article Information
Karol Miller

Department of Mechanical and Materials Engineering, The University of Western Australia, Crawley/Perth WA 6009, Australiae-mail: kmiller@mech.uwa.edu.au

J. Mech. Des 124(2), 347-350 (May 16, 2002) (4 pages) doi:10.1115/1.1462621 History: Received August 01, 2000; Online May 16, 2002
Copyright © 2002 by ASME
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(a) Layout of the Delta robot; (b) dimensional parameters of the Delta robot  
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New University of Western Australia Robot—NUWAR with design variables: angles α=35.26° and β=60°: (a) general view; (b) bottom view; (c) side view; (d) NUWAR prototype
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Workspace of the NUWAR and Delta robots (manipulator dimensions are listed in Table 1): (a) bottom view of the Delta robot’s workspace; (b) bottom view of the NUWAR’s workspace; (c) side view of the Delta robot’s workspace. Note that the workspace is symmetric with respect to the base-plane, however only bottom half is usable; (d) side view of the NUWAR’s workspace. Note that the workspace is not symmetric with respect to the base-plane; (e) base-plane section of the Delta’s workspace, bottom view; (f ) base-plane section of the NUWAR’s workspace, bottom view.




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