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• W2058409158 abstract "Abstract This paper presents the design of a parallel/serial manipulator targeted for highway applications. As such, design simplicity is essential. The hybrid manipulator consists of a planar 2-link parallel mechanism coupled to a translational mechanism. Detailed kinematics are employed to understand the resultant workspace, feasible paths, and manipulability. Based on the analysis, optimal design parameters are selected using a manipulability-based approach to allow for dexterous operations over a full highway lane width. A simple but effective redundancy resolution method is developed to partition motion between the two mechanisms. The design method is applied for a representative highway maintenance task." @default.
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• W2058409158 date "2005-02-09" @default.
• W2058409158 modified "2023-10-14" @default.
• W2058409158 title "Manipulability-Based Design and Analysis of a Hybrid Manipulator for Highway Applications" @default.
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• W2058409158 doi "https://doi.org/10.1081/sme-200048322" @default.
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