RoboTenis: Optimal design of a parallel robot with high performance

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2005, Pages 2134-2139

  Silva, Luis Angel ^a   Sebastian, J M ^b   Saltaren, R ^b   Aracil, R ^b   Sanpedro, J ^b  

^a UNIVERSIDAD PONTIFICIA BOLIVARIANA   (Colombia)

^b UNIVERSIDAD POLITÉCNICA DE MADRID   (Spain)

Author keywords

ADAMS; Dexterity; Dynamic simulation; Parallel robot; Unknown environment; Workspace

Indexed keywords

COMPUTER SIMULATION; INTELLIGENT ROBOTS; JACOBIAN MATRICES; MANIPULATORS; NUMBER THEORY; SPORTS;

ADAMS; DEXTERITY; PARALLEL ROBOTS; UNKNOWN ENVIRONMENTS; WORKSPACE;

MACHINE DESIGN;

EID: 79957992483     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2005.1545022     Document Type: Conference Paper

References (27)

1. J. Hartley, "Toshiba progress towards sensory control in real time," Indust. Robot, vol. 14, No. 1, pp. 50-52, 1987. (Pubitemid 17566354)
2. R.L. Anderson, "A Robot Ping-Pong Player. Experiments in Real time Control," Cambridge, MA: MIT Press, 1987.
3. H. Fassler, H.A. Vasteras, and J.W. Zurich, "A Robot Ping-Pong Player: Optimized mechanics, high performance 3D vision, and intelligent sensor control," Robotersysteme. Berlin: Spring-Verlag, pp. 161-170, 1990.
4. F. Naghdy, J. Wyatt and S. Tran, "A transputer-based architecture for control of a robot ping-pong player," Parallel Computing and Transputers. New York: IOS Press, pp. 311-317, 1993.
5. L. Acosta, J.J. Rodrigo, J.A. Mendez, G.N. Marichal and M. Sigut, "Ping-Pong Player Prototype," IEEE Robotics and Automation Magazine, vol. 10, Issue 4, pp. 44-52, 2003.
6. R.E. Stamper, L.W. Tsai, and G.C. Walsh, "Optimization of a Three Dof Translational Platform for Well-Conditioned Workspace," IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, pp. 3250-3255, 1997.
7. K.Y. Tsai and K.D. Huang, "The Design Considerations of Manipulators," ASME Design Engineering Technical Conference and Computers and Information in Engineering, Baltimore, 2000.
8. U. Basaravaj and J. Duffy, "End-effector motion capabilities of serial manipulators," International Journal of Robotics Research, vol. 12, No. 2, pp.132-145, 1993.
9. V. Parenti-Castelli, R. Di Gregorio and F. Bubani, "Workspace and Optimal Design of a Pure Tranlation Parallel Manipulator," XIV National Congress AIMETA '99.
10. J. P. Merlet, "An improved design algorithm based on interval analysis for spatial parallel manipulator with specified workspace," IEEE International Conference on Robotics and Automation, Seoul, Korea, 2001.
11. F. Tahmasebi and LW. Tsai, "On the Stiffness of a Novel Six Degreeof- Freedom Parallel Mimimanipulator," Journal of Robotic Systems, vol. 12, No. 12, pp. 220-226, 1995.
12. S. Bhattacharya, H. Hatwal, and A. Ghosh, "On the Optimum Design of Stewart Platform Type Parallel Manipulators," Robótica, vol. 13, pp. 133-140, 1995.
13. T. Yoshikawa, "Manipulability of robotic mechanisms," International Journal of Robotics Research, vol. 4, No. 2, pp. 3-9, 1985.
14. C. Gosselin and J. Angeles, "The Optimum Kinematic Design of a Planar Three-Degree-of-Freedom Parallel Manipulator," Journal of Mechanisms, Transmissions, and Automation in Design, vol. 110, pp. 35-41, 1988. (Pubitemid 18590896)
15. C. Gosselin, and J. Angeles, "The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator," ASME Journal of Mechanisms, Transmissions, and Automation in Design, vol. 111, No. 2, pp. 202-207, 1989.
16. C. Gosselin and J. Angeles, "A global Performance Index for the kinematic Optimization of robotic Manipulators," ASME Journal of Mechanical Design, vol. 113, pp. 220-226, 1991. (Pubitemid 21710390)
17. J.K. Salisbury and J.J. Craig, "Articulated hands: force control and kinematics," International Journal of Robotics Research. vol. 1, No. 1, pp. 4-17, 1982. (Pubitemid 13510801)
18. A. Fattah and A. M. Ghasemi, "Isotropic Design of Spatial Parallel Manipulators," International Journal of Robotics Research, vol. 21, No. 9, pp. 811-824, 2002.
19. M. Carricato and V. Parenti-Castelli, "Singularity-free fully-isotropic traslational parallel mechanisms," International Journal of Robotics Research, vol. 21, No. 2, pp. 161-174, 2002.
20. E. Ottaviano and M. Ceccarelli, "Optimum Design of Parallel Manipulators for Workspace and Singularity Performances," WORKSHOP on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, October 3-4, Quebec, Canada, 2002.
21. K. Miller, "Optimal Design and Modeling of Spatial Parallel Manipulators," The International Journal of Robotics Research, vol. 23, No. 2, pp. 127-140, 2004.
22. R. S. Stoughton and T. Arai, "A Modified Stewart Platform Manipulator with Improved Dexterity," IEEE Transaction on Robotics and Automation, vol. 9, No. 2. pp. 166-173, 1993.
23. R. Clavel, "DELTA: a fast robot with parallel geometry," 18th International Symposium on Industrial Robot, pp. 91-100, 1988, Sydney, Australia.
24. J. Raster and D. Perel "Generation of manipulator workspace boundry geometry using the monte carlo method and interactive computer graphics," ASME Trends and Developments in Mechanisms, Machines, and Robotics, pp. 299-305, 1988.
25. C. Gosselin, "Determination of the Workspace of 6-DOF Parallel Manipulators," ASME Journal of Mechanical Design, vol. 112, pp.167- 176, 1990.
26. J.-P. Merlet, "Designing a Parallel Manipulator for a Specific Workspace," The International Journal of Robotics Research, vol. 16. No.4. pp.545-556, 1994.
27. L. Angel, J.M. Sebastian, R. Saltaren, and R. Aracil, "RoboTenis: Parallel robot with Visual Control," WAC 2004, Seville-Spain, 2004.