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Improving the kinematic performance of the SCARA-Tau PKM
conference contribution
posted on 2010-01-01, 00:00 authored by Mats Isaksson, T Brogardh, I Lundbert, Saeid NahavandiOne well acknowledged drawback of traditional parallel kinematic machines (PKMs) is that the ratio of accessible workspace to robot footprint is small for these structures. This is most likely a contributing reason why relatively few PKMs are used in industry today. The SCARA-Tau structure is a parallel robot concept designed with the explicit goal of overcoming this limitation and developing a PKM with a workspace similar to that of a serial type robot of the same size. This paper shows for the first time how a proposed variant of the SCARA-Tau PKM can improve the usability of this robot concept further by significantly reducing the dependence between tool platform position and orientation of the original concept. The inverse kinematics of the proposed variant is derived and a comparison is made between this structure and the original SCARA-Tau concept, both with respect to platform orientation changes and workspace.
History
Event
IEEE International Conference on Robotics and Automation (2010 : Anchorage, Alaska)Pagination
4683 - 4690Publisher
IEEELocation
Anchorage, Ak.Place of publication
Piscataway, N.J.Publisher DOI
Start date
2010-05-03End date
2010-05-08ISSN
1050-4729ISBN-13
9781424450381ISBN-10
1424450381Language
engNotes
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.Publication classification
E1 Full written paper - refereedCopyright notice
2010, IEEETitle of proceedings
ICRA 2010 : Proceedings of the IEEE International Conference on Robotics and Automation - 50 years of RoboticsUsage metrics
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