2005•Unpublished venueRequires access

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

Khaled R. Atia, Matthew P. Cartmell

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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Available abstract

Key concepts: Parallel manipulator, Serial manipulator, Singularity, Manipulator (device), Computer science, Robot, Robot manipulator, Control theory (sociology)