MATEC Web Conf.
Volume 94, 2017The 4th International Conference on Computing and Solutions in Manufacturing Engineering 2016 – CoSME’16
|Number of page(s)||13|
|Section||Solutions for Tools and Devices in Manufacturing Engineering|
|Published online||04 January 2017|
Particularities of fully-parallel manipulators in 6-DOFs robots design: a review of critical aspects
“Dunărea de Jos” University, Faculty of Engineering, 800201, Galati, Romania
* Corresponding author: firstname.lastname@example.org
A whole range of industrial applications requires the presence of parallel mechanisms with six degrees of freedom (6-DOF) which have been developed in the last fifteen years, and one of the reasons why they still are a current topic is that present-day computers are capable of performing real-time motion laws of great complexity associated with these types of parallel mechanisms. The present work underlines particularities of parallel manipulators and their importance in the design of 6-DOF robots. The paper reveals the progress made in the last twenty years in the development of 6-DOF parallel manipulators, which increasingly find a wide scope of applications in different industrial areas such as robotics, manufacture and assisted medicine. It also emphasizes the need to determine singular configurations and the effect of cinematic redundancy which can increase the working space of the manipulators by adding active joints in one or more branches of the manipulator. Throughout the work, there were outlined three types of singularities encountered in the modelling of different types of parallel manipulators, and three types of redundancy. Furthermore, an analysis was made of the dimension of the workspace for a series of parallel manipulators, highlighting a number of factors that influence its size.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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