Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/2145
Title: Structural synthesis of Euclidean platform robot manipulators with variable general constraints
Authors: Alizade, Rasim
Can, Fatih Cemal
Gezgin, Erkin
Keywords: Branch loops
Euclidian manipulators
Motion of platform
Structural synthesis
Variable general constraints
Issue Date: Nov-2008
Publisher: Elsevier Ltd.
Source: Alizade, R., Can, F. C., and Gezgin, E. (2008). Structural synthesis of Euclidean platform robot manipulators with variable general constraints. Mechanism and Machine Theory, 43(11), 1431-1449. doi: 10.1016/j.mechmachtheory.2007.11.006
Abstract: In this paper, new method for structural synthesis of Euclidean platform robot manipulators with variable general constraints (EPRM) is presented. Three dimensional motion of the base moving platform is generated by the motion of dyads on the Euclidean planes. Each dyad is connected to the moving base platform by universal, spherical or spherical in torus (St) kinematic pairs. This allows solving the structural synthesis of Euclidean robot manipulators with various DoF and different platform motions. New structural formulations with variable general constraints for the platform motion and the mobility of robot manipulators are presented. The new structural classification of simple structural groups with variable general constraints including platforms, hinges, legs and branch loops from different subspaces and space is also introduced. Moreover, new method for structural synthesis of serial, parallel and serial-parallel EPRM is illustrated along with examples. © 2007 Elsevier Ltd. All rights reserved.
URI: http://doi.org/10.1016/j.mechmachtheory.2007.11.006
http://hdl.handle.net/11147/2145
ISSN: 0094-114X
0374-1052
0094-114X
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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