SEPA-ROBOT: a serial-parallel manipulator with singularity-based design

Khaled R. Atia, M. P. Cartmell

Research output: Contribution to conferenceOther

2 Citations (Scopus)

Abstract

In this paper a design for a new singularity-based 2 DOF robot manipulator is proposed. The design permits operation of the manipulator in either serial, parallel, or redundant actuated parallel mode. Thus all serial and parallel applications can be performed by one manipulator. By means of this design the versatility of the manipulator can be optimised.

Conference

ConferenceIEEE International Conference on Industrial Technology 2000
CountryIndia
CityGoa
Period19/01/0022/01/00

Fingerprint

Manipulators
Robots

Keywords

  • actuators
  • parallel robots
  • manipulator dynamics
  • service robots
  • grippers
  • mechanical engineering

Cite this

Atia, K. R., & Cartmell, M. P. (2000). SEPA-ROBOT: a serial-parallel manipulator with singularity-based design. 49-54. IEEE International Conference on Industrial Technology 2000, Goa, India. https://doi.org/10.1109/ICIT.2000.854095
Atia, Khaled R. ; Cartmell, M. P. / SEPA-ROBOT: a serial-parallel manipulator with singularity-based design. IEEE International Conference on Industrial Technology 2000, Goa, India.6 p.
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keywords = "actuators, parallel robots, manipulator dynamics, service robots, grippers, mechanical engineering",
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note = "IEEE International Conference on Industrial Technology 2000 ; Conference date: 19-01-2000 Through 22-01-2000",

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Atia, KR & Cartmell, MP 2000, 'SEPA-ROBOT: a serial-parallel manipulator with singularity-based design' IEEE International Conference on Industrial Technology 2000, Goa, India, 19/01/00 - 22/01/00, pp. 49-54. https://doi.org/10.1109/ICIT.2000.854095

SEPA-ROBOT: a serial-parallel manipulator with singularity-based design. / Atia, Khaled R.; Cartmell, M. P.

2000. 49-54 IEEE International Conference on Industrial Technology 2000, Goa, India.

Research output: Contribution to conferenceOther

TY - CONF

T1 - SEPA-ROBOT: a serial-parallel manipulator with singularity-based design

AU - Atia, Khaled R.

AU - Cartmell, M. P.

PY - 2000

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N2 - In this paper a design for a new singularity-based 2 DOF robot manipulator is proposed. The design permits operation of the manipulator in either serial, parallel, or redundant actuated parallel mode. Thus all serial and parallel applications can be performed by one manipulator. By means of this design the versatility of the manipulator can be optimised.

AB - In this paper a design for a new singularity-based 2 DOF robot manipulator is proposed. The design permits operation of the manipulator in either serial, parallel, or redundant actuated parallel mode. Thus all serial and parallel applications can be performed by one manipulator. By means of this design the versatility of the manipulator can be optimised.

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KW - manipulator dynamics

KW - service robots

KW - grippers

KW - mechanical engineering

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Atia KR, Cartmell MP. SEPA-ROBOT: a serial-parallel manipulator with singularity-based design. 2000. IEEE International Conference on Industrial Technology 2000, Goa, India. https://doi.org/10.1109/ICIT.2000.854095