TriM

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

P. Krishnamurthy, Farshad Khorrami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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)
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages3306-3311
Number of pages6
Volume4
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

Fingerprint

Linear motors
Degrees of freedom (mechanics)
Manipulators
Kinematics
Actuators
Inverse kinematics

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Krishnamurthy, P., & Khorrami, F. (2003). TriM: An Ultra-Accurate High-Speed Six Degree-of-Freedom Manipulator Using Linear Motors. In IEEE International Conference on Intelligent Robots and Systems (Vol. 4, pp. 3306-3311)

TriM : An Ultra-Accurate High-Speed Six Degree-of-Freedom Manipulator Using Linear Motors. / Krishnamurthy, P.; Khorrami, Farshad.

IEEE International Conference on Intelligent Robots and Systems. Vol. 4 2003. p. 3306-3311.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Krishnamurthy, P & Khorrami, F 2003, TriM: An Ultra-Accurate High-Speed Six Degree-of-Freedom Manipulator Using Linear Motors. in IEEE International Conference on Intelligent Robots and Systems. vol. 4, pp. 3306-3311, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States, 10/27/03.
Krishnamurthy P, Khorrami F. TriM: An Ultra-Accurate High-Speed Six Degree-of-Freedom Manipulator Using Linear Motors. In IEEE International Conference on Intelligent Robots and Systems. Vol. 4. 2003. p. 3306-3311
Krishnamurthy, P. ; Khorrami, Farshad. / TriM : An Ultra-Accurate High-Speed Six Degree-of-Freedom Manipulator Using Linear Motors. IEEE International Conference on Intelligent Robots and Systems. Vol. 4 2003. pp. 3306-3311
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