TriM: An Ultra-Accurate High-Speed Six Degree-of-Freedom Manipulator Using Linear Motors

P. Krishnamurthy, F. Khorrami

Research output: Contribution to conferencePaper

Abstract

In this paper, we propose & novel six degree-of-freedom positioning system. This device is a tripod structure with inextensible limbs actuated at the base by two dimensional linear stepper motors (although other types of actuators may be utilized). The kinematics (both the direct and the inverse kinematics) and dynamics are presented in detail. The dynamics of the actuators (Sawyer motors) are also included in the dynamic modeling. We also carry out a kinematic optimization of the system parameters to maximize the manipulator workspace. The proposed manipulator achieves large range of motion in all the six degrees of freedom. Furthermore, high resolution and high speed motion may be achieved in all axes.

Original languageEnglish (US)
Pages3306-3311
Number of pages6
StatePublished - 2003
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: Oct 27 2003Oct 31 2003

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period10/27/0310/31/03

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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    Krishnamurthy, P., & Khorrami, F. (2003). TriM: An Ultra-Accurate High-Speed Six Degree-of-Freedom Manipulator Using Linear Motors. 3306-3311. Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States.