Abstract
SUMMARYIsotropic manipulators are generally considered as designs with optimum dexterity. Currently, many 6-DOF (degrees-of-freedom) isotropic parallel manipulators can be developed by numerical or analytical methods. At an isotropic configuration, a manipulator is equidistant from its neighboring singular points. The distance, however, can be very small, so an isotropic design might have relatively smaller singularity-free workspace. This paper presents methods to develop traditional 6-DOF parallel manipulators with better dexterity and larger singularity-free workspace. Some fully symmetric nontraditional designs are then proposed. The evaluation of kinematic properties shows that the fully symmetric designs have very good global dexterity, better rotatability, and relatively larger singularity-free workspace. The manipulators are suitable for some special tasks requiring higher precision, better rotatability, or larger workspace.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
