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.
Original languageEnglish
Pages49-54
Number of pages6
DOIs
Publication statusPublished - 2000
EventIEEE International Conference on Industrial Technology 2000 - Goa, India
Duration: 19 Jan 200022 Jan 2000

Conference

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

Keywords

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

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