0

Full Content is available to subscribers

Subscribe/Learn More  >

Motion Performance Analysis of Double-Slider Two-DOF Parallel Manipulators

[+] Author Affiliations
Hong Zhou, Mukesh Nagapuri, Sheetal Reddy Mamidi, Raj Kumar Gandham

Texas A&M University-Kingsville, Kingsville, TX

Paper No. IMECE2010-37907, pp. 569-578; 10 pages
doi:10.1115/IMECE2010-37907
From:
  • ASME 2010 International Mechanical Engineering Congress and Exposition
  • Volume 8: Dynamic Systems and Control, Parts A and B
  • Vancouver, British Columbia, Canada, November 12–18, 2010
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4445-8
  • Copyright © 2010 by ASME

abstract

Double-slider parallel manipulators are closed-loop two-degree-of-freedom linkages. They are preferred to use because of their simplicity plus the common advantages of parallel manipulators such as high stiffness, load-bearing, operation speed and precision positioning. Like other parallel manipulators, the output motion of double-slider parallel manipulators is not as flexible as two-degree-of-freedom serial manipulators. The motion performance analysis plays a crucial role for this type of parallel manipulator to be applied successfully. In this paper, the linkage feasibility conditions are established based on the transmission angle. When feasibility conditions are satisfied, there is no dead position during operation. The workspace is generated by using curve-enveloping theory. The singularity characteristics are analyzed within the workspace. The motion performance index contours within the workspace are produced using the condition number of the manipulator Jacobian matrix. The results of this paper provide guidelines to design this type of parallel manipulator.

Copyright © 2010 by ASME
Topics: Motion , Manipulators

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In