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      Permanent link:
      https://www.ias.ac.in/article/fulltext/sadh/036/06/0977-0994

    • Keywords

       

      Parallel manipulator; isotropy; kinematic design; force redundancy.

    • Abstract

       

      Optimal kinematic design of parallel manipulators is a challenging problem. In this work, an attempt has been made to present a generalized approach of kinematic design for a 6-legged parallel manipulator, by considering only the minimally required design parameters. The same approach has been used to design a 7-legged redundant parallel manipulator. Two ways of introducing redundancy into the parallel manipulator have been demonstrated and comparison between them has been presented.

    • Author Affiliations

       

      Vivek Kumar Mehta1 Bhaskar Dasgupta1

      1. Department of Mechanical Engineering, Indian Institute of Technology, Kanpur 208 016, India

    • Dates

       
      Published
      December 2011
      Manuscript received
      4 June 2010
      Manuscript revised
      1 June 2011
      Accepted
      19 August 2011

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