Design, modelling and control of four-axis parallel robotic arm for assembly operations

Nazim Mir-Nasiri

Research output: Contribution to specialist publicationArticle

7 Citations (Scopus)

Abstract

This paper concerns a new robotic arm with a parallel structure, but with a functionality or geometry similar to the serial structure of a SCARA robot. However, it has a number of advantages compared to a SCARA robot and to other conventional manipulators with parallel structures. It has high stiffness, low inertia and a large payload with comparison to SCARA robots, and a larger workspace with comparison to conventional manipulators with parallel structures. This paper and related research is aimed at overcoming the problems encountered in the design, modeling and application of such robotic arms. In fact, the proposed structure has simpler and more manageable mathematical models compared to those of other 3D parallel structures.

Original languageEnglish
Pages365-369
Number of pages5
Volume24
No.4
Specialist publicationAssembly Automation
DOIs
Publication statusPublished - Nov 16 2004

Keywords

  • Control
  • Dynamics
  • Kinematics
  • Robotics
  • User interfaces

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering

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