A Study of Feasibility for a Novel Parallel-serial Manipulator

Marco Ceccarelli; Erika Ottaviano; Giuseppe Carbone

doi:10.20965/jrm.2002.p0304

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JRM Vol.14 No.3 pp. 304-312

doi: 10.20965/jrm.2002.p0304

(2002)

Paper:

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A Study of Feasibility for a Novel Parallel-serial Manipulator

Marco Ceccarelli, Erika Ottaviano and Giuseppe Carbone

Laboratory of Robotics and Mechatronics, DiMSAT - University of Cassino Via Di Biasio 43 - 03043 Cassino (Fr), Italy

Received:

July 23, 2001

Accepted:

February 22, 2002

Published:

June 20, 2002

Keywords:

hybrid robot design, paralle-serial manipulators, static action, workspace, stiffness

Abstract

A combination of serial and parallel chain manipulators is proposed for a design of a novel hybrid robot. In this paper a study of feasibility is presented in terms of basic performances of workspace, static action, and stiffness properties.

Cite this article as:

M. Ceccarelli, E. Ottaviano, and G. Carbone, “A Study of Feasibility for a Novel Parallel-serial Manipulator,” J. Robot. Mechatron., Vol.14 No.3, pp. 304-312, 2002.

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