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Synthesis and analysis of a new class of six-degree-of-freedom parallel minimanipulatorsA new class of six-degree-of-freedom parallel minimanipulators capable of providing high resolution and high-stiffness for fine position and force control in a hybrid serial-parallel manipulator system is presented. Positional resolution and stiffness of minimanipulators are improved using two-degree-of-freedom planar linkages as drivers. The minimanipulators are based on only three inextensible limbs, as opposed to most of the six-limbed parallel manipulators, which makes it possible to reduce its direct kinematics to solving a polynomial in a single variable and to diminish possibility of mechanical interference between limbs. The base-mounted minimanipulator actuators are characterized by high payload capacity, small actuator size, and low power dissipitation.
Document ID
19930061598
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
Authors
Tsai, Lung-Wen
(Maryland Univ. College Park, United States)
Tahmasebi, Farhad
(NASA Goddard Space Flight Center Greenbelt, MD, United States)
Date Acquired
August 16, 2013
Publication Date
July 1, 1993
Publication Information
Publication: Journal of Robotic Systems
Volume: 10
Issue: 5
ISSN: 0741-2223
Subject Category
Mechanical Engineering
Accession Number
93A45595
Funding Number(s)
CONTRACT_GRANT: NSF CDR-88-03012
CONTRACT_GRANT: DE-FG05-88ER-13977
Distribution Limits
Public
Copyright
Other

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