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DESIGN CONSIDERATIONS OF NEW SIX IDEGREES-OF-FREEDOM PARALLEL ROBOTS

Research Area: Parallel Robots Year: 1998
Type of Publication: In Proceedings Keywords: parallel robots; kinematics; jacobian;
Authors:
  • Nabil Simaan
  • Daniel Glozman
  • Moshe Shoham
Volume: 2
Book title: IEEE International Conference on Robotics and Automation (ICRA’1998)
Pages: 1327 - 1333
ISBN: 0-7803-4300-X ISSN: 1050-4729
Abstract:
This paper describes the structure of three types of parallel robots and compares their performances in the sense of size and static forces. The motivation for this investigation is to construct a robot that best fits a given medical application. The requirements are to cover a given work volume with a given orientation and to maintain the robot within the smallest cube possible. Among the structures examined, three are presented since two are modifications of known structures and the third is a new one
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