Design and kinematic analysis of a rotary positioner
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Volume 25,
Issue 1
January 2007
, pp. 75-85
Design and kinematic analysis of a rotary positioner
- https://doi.org/10.1017/S0263574706003006
- Published online: 01 September 2006
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A rotary positioner (RP) is a type of parallel manipulator that is similar to a Stewart Platform. Instead of having variable-length bars, however, an RP has constant-length limbs located between a mobile platform as well as six circular motors distributed on a circular base. This paper offers a detailed investigation of an RP, focusing on its mechanism and analyzing its forward and inverse kinematics. It also computes an RP's constant orientation and orientation workspaces, taking into account the constraints imposed by passive joints and links interference. The optimal combination of the main parameters for an RP's maximum possible translation and orientation is also provided.
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