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A parallel robotic attachment and its remote manipulation
Integrated Manufacturing Technologies Institute, National Research Council of Canada.ORCID iD: 0000-0001-8679-8049
2006 (English)In: Robotics and Computer-Integrated Manufacturing, ISSN 0736-5845, E-ISSN 1879-2537, Vol. 22, no 5-6, 515-525 p.Article in journal (Refereed) Published
Abstract [en]

This paper discusses a 3-dof (degree of freedom) parallel robotic attachment and its remote manipulation. This attachment is designed as a tripod that provides two rotary motions and one linear motion. The attachment can be mounted onto a variety of machines for different applications, including CNC milling machines, industrial robots, and CMM. Java technologies are used to develop a remote manipulation system for the parallel robotic attachment, including remote monitoring and control. The main difference of this system from the existing web-based or internet-based remote systems is the way to control the motion of the machine from a remote site. Instead of using a camera for monitoring, the tripod is modeled using 3D computer graphics with behavioral control nodes embedded.

Compared with camera-based solutions, network traffic is largely reduced, thereby making real-time remote device manipulation practical on the web. Our parallel robotic attachment is one type of parallel kinematic mechanisms (PKM). With PKM emerging as a new way of building flexible systems or agile machines, its advantage over serial mechanism is also presented.

Place, publisher, year, edition, pages
Elsevier, 2006. Vol. 22, no 5-6, 515-525 p.
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-205709OAI: oai:DiVA.org:kth-205709DiVA: diva2:1090215
Note

QC 20170522

Available from: 2017-04-23 Created: 2017-04-23 Last updated: 2017-05-22Bibliographically approved

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fulltext(522 kB)5 downloads
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CiteExportLink to record
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Citation style
  • apa
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