Workspace analysis of a six-degrees of freedom, three-prismatic-prismatic-spheric-revolute parallel manipulator

International Journal of Advanced Manufacturing Technology

Volumn 16, Issue 6, 2000, Pages 441-449

  Majid, M Z A ^a   Huang, Z ^a   Yao, Y Lawrence ^a  

^a Columbia University ^*  (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); MOTION CONTROL; POSITION CONTROL;

PARALLEL MANIPULATORS; STEWART PLATFORM; WORKSPACE;

MANIPULATORS;

EID: 0033702025     PISSN: 02683768     EISSN: None     Source Type: Journal    
DOI: 10.1007/s001700050176     Document Type: Article

References (19)

1. D. Stewart, "A platform with six degrees of freedom", Proceedings Institution of Mechanical Engineers, 180, pp. 25-28, 1965.
2. F. Tahmasebi and L.-W. Tsai, "On the stiffness of a novel six-DOF parallel manipulator", Intelligent Automation and Soft Computing, Proceedings of the First World Automation Congress (WAC94), vol. 2, pp. 189-194, 1994.
3. F. Tahmasebi and L.-W. Tsai, "Closed-form direct kinematics solution of a new parallel manipulator". Journal of Mechanical Design, 116, pp. 1141-1147, 1994.
4. L.-W. Tsai and F. Tahmasebi, "Synthesis and analysis of a new class of six-DOF parallel manipulators", Journal of Robotic Systems, 10, pp. 561-580, 1993.
5. F. Tahmasebi and L.-W. Tsai, "Jacobian and stiffness analysis of a novel class of six-DOF parallel manipulators", Proceedings of the 22nd Biennial Mechanisms Conference, ASME, DE-vol. 47, pp. 95-102, 1992.
6. F. Tahmasebi and L.-W. Tsai, "Workspace and singularity analysis of a novel six-DOF parallel manipulator", Journal of Applied Mechanisms and Robotics, 1(2), pp. 31-40, 1994.
7. H. Asada and I. H. Ro, "A linkage design for direct drive robot arms", Journal of Mechanisms, Transmissions and Automation in Design, 107, pp. 536-540, 1985.
8. A. Bajpai and B. Roth, "Workspace and mobility of a closed-loop manipulator", International Journal of Robotics Research, 5(2), pp. 131-142, 1986.
9. C. Gosselin and J. Angeles, "The optimum kinematic design of a planar three-DOF parallel manipulator", Journal of Mechanisms, Transmissions and Automation in Design, 110, pp. 35-41, 1988.
10. C. Gosselin and J. Angeles, "The optimum kinematic design of a spherical three-DOF parallel manipulator", Journal of Mechanisms, Transmissions and Automation in Design, 111, pp. 202-207, 1989.
11. K. M. Lee and D. K. Shah, "Kinematic analysis of a three-DOF in-parallel actuated manipulator," IEEE Journal of Robotics and Automation 4(3), 354-360, 1988.
12. K. J. Waldron, M. Raghavan and B. Roth, "Kinematics of a hybrid series of parallel manipulation system", ASME Journal of Dynamic System Measurement and Control, 111, pp. 211-221, 1989.
13. D. C. H. Yang and T. W. Lee, "Feasibility study of a platform type of robotic manipulators from a kinematic viewpoint", Journal of Mechanisms, Transmissions and Automation in Design, 106, pp. 191-198, 1984.
14. E. F. Fichter, "A Stewart platform-based manipulator: general theory and practical construction", International Journal of Robotics Research, 5(2), pp. 157-182, 1986.
15. J. P. Merlet, "Force-feedback control of parallel manipulator", IEEE International Conference on Robotics and Automation, pp. 1484-1489, 1988.
16. C. Gosselin, "Determination of the workspace of six-DOF parallel manipulator", Journal of Mechanical Design, 112, pp. 331-336, 1990.
17. O. Masory and J. Wang, "Workspace evaluation of Stewart platform", Proceedings ASME Winter Annual Meeting, DE-45, pp. 337-352, 1992.
18. R. S. Ball, Theory of Screw, Cambridge University Press, 1900.
19. K. H. Hunt, Kinematic Geometry of Mechanisms, Oxford, Clarendon Press, 1978.