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The Kinematics of a Parallel-Linkage Robot

  • D. M. J. Harris
  • D. McCloy
Conference paper

Abstract

The kinematics of a parallel-linkage robot based on the Stewart platform are analysed. From the desired motion of the tool are derived the linear and angular positions, velocities and accelerations of all parts of the manipulator. The analysis is general, and applies to any fully parallel robot with linear actuators.

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References

  1. 1.
    McCloy, D. and Harris, D.M.J. (1986). Robotics: An Introduction. The Open University Press, Milton Keynes.Google Scholar
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    Harris, D.M.J. and McCloy, D. (1988). “A Parallel-linkage Robot using hydraulic actuators”. Proc. 6th International Conference on Systems Engineering, Coventry Polytechnic, 835–842.Google Scholar
  3. 3.
    Harris, D.M.J. and McCloy, D. (1988). “Performance of a parallel-linkage robot”. 5th Conference of the Irish Manufacturing Committee, Queen’s University, Belfast, 417–434.Google Scholar
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    Fichter, E.F. (1986). “A Stewart platform-based manipulator: General theory and practical construction”. The International Journal of Robotics Research, 5, 2, 157–182.CrossRefGoogle Scholar
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    Stewart, D. (1966). “A platform with six degrees of freedom”. Proc Inst Mech Engrs, 150, 1, N°15, 271–386.Google Scholar
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    Denavit, J. and Hartenberg, R.S. (1955). “A kinematic notation for lower-pair mechanisms based on matrices”. Journal of Applied Mechanics, June, 1955, 215–221.Google Scholar

Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • D. M. J. Harris
    • 1
  • D. McCloy
    • 1
  1. 1.Faculty of Science and TechnologyUniversity of UlsterNewtownabbey, County AntrimUK

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