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RESEARCH PAPERS: Design Automation

Feasibility Study of a Platform Type of Robotic Manipulators from a Kinematic Viewpoint

[+] Author and Article Information
D. C. H. Yang

Department of Mechanics and Structures, University of California, Los Angeles, Calif. 90024

T. W. Lee

Department of Mechanical and Aerospace Engineering, Rutgers University, New Brunswick, N.J. 08903

J. Mech., Trans., and Automation 106(2), 191-198 (Jun 01, 1984) (8 pages) doi:10.1115/1.3258578 History: Received June 10, 1983; Online November 19, 2009

Abstract

This paper presents a theoretical investigation on the feasibility of using a platform mechanism as a robotic manipulator. The existence of this type of closed-loop kinematic chain is first investigated via a kinematic number synthesis. A displacement analysis then follows, which gives inverse control equations in terms of motion and design parameters, using the [4 × 4] matrix method. Basic kinematic characteristics and limitations, such as the extreme ranges of motion and rotatability as well as workspace are investigated.

Copyright © 1984 by ASME
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