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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
Issue Date: Sep-2019
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.
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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