Conceptual design of a 2-DoF planar high-speed industrial parallel manipulator

Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/7304

Title:	Conceptual design of a 2-DoF planar high-speed industrial parallel manipulator
Authors:	Uzunoğlu, Emre Özkahya, Merve Paksoy, Erkan Taner, Barış Dede, Mehmet İsmet Can Kiper, Gökhan
Keywords:	Planar parallel manipulator Conceptual design Control strategy
Publisher:	Springer
Abstract:	This study focuses on conceptual design alternatives for a planar high-speed/high-precision manipulator in terms of mechanism structure, control strate-gy, and drive system selection. These concepts are investigated specifically for planar 5-bar based parallel linkages. An over-constrained 6-bar linkage with par-allelogram loops and its simply constrained version are selected for detailed de-sign. In addition, a model-based control strategy including a stiffness model is discussed for future studies. Alternative drive systems are evaluated. Finally a prototype is presented.
URI:	https://doi.org/10.1007/978-981-15-0142-5_34 https://hdl.handle.net/11147/7304
ISBN:	978-981-15-0141-8
Appears in Collections:	Mechanical Engineering / Makina Mühendisliği Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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