Abstract
An optimal kinematic design method suited for parallel manipulators is described. The optimal configuration for a Delta-type three-degree-of-freedom spatial, translational manipulator, known as the New University of Western Australia Robot (NUWAR) is presented, and shown to be advantageous over the Delta configuration in terms of workspace volume. These results led to the construction of a prototype and an Australian Patent application.
The kinematic optimisation process yielding a design, which delivers the best compromise between manipulability and a new performance index: space utilisation, is presented. The process leading to finding an optimal configuration of Linear Delta robot is described.
An example medical application of a parallel robot is discussed. The robot is designed to work inside an open magnetic resonance scanner. A concept of a robot control system, based on biomechanical models of organs the robot operates on, is presented.
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© 2003 Springer-Verlag Berlin Heidelberg
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Miller, K. (2003). Design and Applications of Parallel Robots. In: Jarvis, R.A., Zelinsky, A. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 6. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36460-9_11
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DOI: https://doi.org/10.1007/3-540-36460-9_11
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