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    This article has been cited by the following publications. This list is generated based on data provided by CrossRef.
    Yan, S. J. Ong, S. K. and Nee, A. Y. C. 2016. Optimization design of general triglide parallel manipulators. Advanced Robotics, Vol. 30, Issue. 16, p. 1027.
    Zeng, Rui Dai, Shuling Xie, Wenfang and Rama, Bhat 2015. Constraint Conditions Determination for Singularity-free Workspace of Central Symmetric Parallel Robots. IFAC-PapersOnLine, Vol. 48, Issue. 3, p. 1930.
    Huang, C.K. and Tsai, K.Y. 2015. A general method to determine compatible orientation workspaces for different types of 6-DOF parallel manipulators. Mechanism and Machine Theory, Vol. 85, Issue. , p. 129.
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Six-DOF parallel manipulators with maximal singularity-free joint space or workspace

  • K. Y. Tsai (a1), J. C. Lin (a1) and Yiting Lo (a1)
Summary

Singularity-free workspace is a very important criterion for the design of manipulators, especially for parallel manipulators which are well known for their limited workspace and complex singularities. This paper studies geometric parameters and dexterity measures that affect the size of a singularity-free joint space and proposes methods for the development of 6-DOF Stewart–Gough parallel manipulators that have better singularity-free joint space. With a local dexterity measure as the objective function, a systematic method is employed to search for the design with a maximal singularity-free joint space. The related workspaces are also investigated. It is shown that the workspace is not proportional to the size of the joint space and that manipulators with a larger singularity-free workspace usually have relatively poor dexterity.

Copyright
COPYRIGHT: © Cambridge University Press 2013 
Corresponding author
*Corresponding author. E-mail: kytsai@mail.ntust.edu.tw
References
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Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
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