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A Variant of a 6-RKS Hunt-Type Parallel Manipulator to Easily Use Insensitivity Position Configurations

  • I. Zabalza
  • J. Ros
  • J. J. Gil
  • J. M. Pintor
  • J. M. Jiménez
Chapter

Abstract

In this paper, the “insensitivity position configurations” (IPCs) of a 6-RKS Hunt-type parallel manipulator are analysed. The advantages of the aforementioned manipulator IPCs in positioning tool or pieces in being manufacturing processes are discussed. The difficulty to design such manipulator showing IPCs in some predefined positions is studied. To simplify this design process a variant of 6-RKS parallel manipulator is presented.

Keywords

Kinematics Singularity Insensitivity Multibody Robotics Parallel Manipulator Machine Theory 

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References

  1. Benea R., (1996), Contribution à L’Ètude des Robots Pleinement Parallèles de Type 6RRR-S, Doctoral Thesis, Université de Savoie, Annecy, France.Google Scholar
  2. Hunt K. H., (1983), Structural Kinematics of In-Parallel-Actuated Robot-Arms, J. of Mech. Trans. and Auto. in Design,no. 4, vol. 105, pp. 705–712.CrossRefGoogle Scholar
  3. Zabalza I., Pintor J. M., Ros J. y Jiménez J. M., (1999), Evaluation of the 64 Insensitivity Positions for a 6-RKS Hunt-Type Parallel Manipulator, Tenth World Congres on the Theory of Machine and Mechanisms, Oulu, Finland, pp. 1152–1157.Google Scholar
  4. Zabalza I., Ros J., Pintor J. M. y Jiménez J. M., (2000), Aplicaciones de los Manipuladores Paralelos con Actuadores Giratorios, (X-RKS), XIV Congreso Nacional de Ingenieria Mecânica, Leganés, España, pp. 2367–2372.Google Scholar

Copyright information

© Springer Science+Business Media Dordrecht 2002

Authors and Affiliations

  • I. Zabalza
    • 1
  • J. Ros
    • 1
  • J. J. Gil
    • 1
  • J. M. Pintor
    • 1
  • J. M. Jiménez
    • 1
  1. 1.Public University of NavarraMechanical Engineering Dep.PamplonaSpain

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