The effects of design parameters on the workspace of a Turin parallel robot
- Univ. di Cassino (Italy). Dipt. di Ingegneria Industriale
- Politecnico di Torino (Italy). Dipt. di Meccanica
In this paper an investigation is carried out to determine topological and design characteristics of the workspace of a Turin parallel robot named TuPaMan. The authors propose a procedure for the dimensional design of the device components. They mainly emphasize the motion capability of parallel robots, whose mechanical design may be scaled with respect to existing prototypes, by means of a characterization of the TuPaMan workspace. Additionally, orientation capability of the robot is evaluated through determining the workspace for a given orientation of the movable plate. The numerical results of the effects of the design parameters and the robot`s workspace constraints are provided as three-dimensional plots and cross-sections of the most interesting workspaces. Finally, a parametric analysis is carried out as a function of the device size, using the overall dimensions and the area of the middle cross-section of the workspace as synthetic performance indices.
- Sponsoring Organization:
- USDOE
- OSTI ID:
- 665356
- Journal Information:
- International Journal of Robotics Research, Vol. 17, Issue 8; Other Information: PBD: Aug 1998
- Country of Publication:
- United States
- Language:
- English
Similar Records
Computation of robot configuration and workspaces via the Fourier transform on the discrete-motion group
Development of a 6DOF robotic motion phantom for radiation therapy