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

Khaled R. Atia; M. P. Cartmell

doi:10.1109/ICIT.2000.854095

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

Khaled R. Atia, M. P. Cartmell

Mechanical And Aerospace Engineering

Research output: Contribution to conference › Other › peer-review

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.

Original language	English
Pages	49-54
Number of pages	6
DOIs	https://doi.org/10.1109/ICIT.2000.854095
Publication status	Published - 2000
Event	IEEE International Conference on Industrial Technology 2000 - Goa, India Duration: 19 Jan 2000 → 22 Jan 2000

Conference

Conference	IEEE International Conference on Industrial Technology 2000
Country	India
City	Goa
Period	19/01/00 → 22/01/00

Keywords

actuators
parallel robots
manipulator dynamics
service robots
grippers
mechanical engineering

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10.1109/ICIT.2000.854095

https://www.scopus.com/inward/record.uri?eid=2-s2.0-0033714558&partnerID=40&md5=07ddb72176efd04889c5c5078c337fb8

Cite this

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title = "SEPA-ROBOT: a serial-parallel manipulator with singularity-based design",

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.",

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AU - Cartmell, M. P.

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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.

KW - actuators

KW - parallel robots

KW - manipulator dynamics

KW - service robots

KW - grippers

KW - mechanical engineering

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DO - 10.1109/ICIT.2000.854095

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T2 - IEEE International Conference on Industrial Technology 2000

Y2 - 19 January 2000 through 22 January 2000

ER -

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

Abstract

Conference

Keywords

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