Design Problems for Parallel Manipulators in Assembling Operations

作     者：Marco Ceccarelli Erika Ottaviano 

作者机构：LARM-Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Via Di Biasio 43 03043 Cassino (Fr) Italy 

出 版 物：《IFAC Proceedings Volumes》 

年 卷 期：2003年第36卷第23期

页      面：13-26页

主　　题：Robotics Assembling Parallel Manipulators Performances Design 

摘      要：This overview presents parallel manipulators for industrial assembling operations by looking at their fundamental characteristics that are useful for applications and optimum design. Several robots that are already available in the market are described to show the feasibility of parallel manipulators for industrial applications, although much other architecture are under developments even with built prototypes in many research centers. The feasibility of parallel manipulators for industrial applications can be proved also by a suitable design formulation that matches application requirements with design characteristics. Thus, an optimum design procedure is presented as a synthesis of design problems and operation characteristics for parallel manipulators in assembling operations.