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A One-Motor Full-Mobility 6-PUS Manipulator

AuthorsGrosch, Patrick ; Gregorio, Raffaele di; Thomas, Federico
Issue Date2010
CitationRomansy 18 Robot Design, Dynamics and Control: 49-56 (2010)
SeriesCISM Courses and Lectures
AbstractThis paper presents the feasibility study of an under-actuated parallel manipulator with 6-PUS topology, destined to handle work-tables in CNC machine tools. The proposed device exploits the fact that, in such an application, the path between the initial and final poses of the mobile platform is not assigned to reduce the number of actuators to only one.
Description8 páginas, 2 figuras.-- Trabajo presentado al 18th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY) celebrado en Udine (Italia) del 5 al 8 de Julio de 2010.
Publisher version (URL)http://dx.doi.org/10.1007/978-3-7091-0277-0_5
Appears in Collections:(IRII) Libros y partes de libros
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