Design and singularity analysis of a 3-translational-DOF in-parallel manipulator

Journal of Mechanical Design

Volumn 124, Issue 3, 2002, Pages 419-426

  Romdhane, L ^a   Affi, Z ^a   Fayet, M ^a  

^a UNIVERSITY OF MONASTIR   (Tunisia)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; COMPUTER SOFTWARE; DEFORMATION; DEGREES OF FREEDOM (MECHANICS); FINITE ELEMENT METHOD; KINEMATICS; LOADS (FORCES); MANIPULATORS; THREE DIMENSIONAL COMPUTER GRAPHICS;

KINEMATIC ANALYSIS;

PRODUCT DESIGN;

EID: 0036750375     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.1480815     Document Type: Article

References (31)

1. Pollard, W.L.V., 1942, "Position Controlling Apparatus," June 16, 1942. U.S. Patent N° 2,286,571.
2. Gough, V.E., 1956, "Contribution to Discussion of Papers on Research in Automobile Stability, Control and Tire Performance," Proc. Inst. Mech. Eng., 1956-1957.
3. Stewart, D., 1965, "A Platform with Six Degrees of Freedom," Proc. Inst. Mech. Eng., 180(15), pp. 371-386.
4. Huang, Z., and Fang, Y.F., 1996, "Kinematic Characteristics Analysis of 3-DOF In-Parallel Actuated Pyramid Mechanisms," Mech. Mach. Theory, 31(8), pp. 1009-1018.
5. Merlet, J.-P., 1990, "Les robots parallèles," HERMES, France.
6. Romdhane, L., 1999, "Design and Analysis of a Hybrid Serial-Parallel Manipulator," Mech. Mach. Theory, 34(7), pp. 1037-1056.
7. Shim, J.H., Kwon, D.S., and Cho, H.S., 1999, "Kinematic Analysis and Design of a Six DOF 3-PRPS In-Parallel Manipulator," Robotica, 17, pp. 269-281.
8. Tahmasebi, F., and Tsai, L.W., 1994, "Closed-Form Direct Kinematics Solution of a New Parallel Minimanipulator," ASME J. Mech. Des., 116, pp. 1141-1147.
9. Wohlhart, K., 1994, "Displacement Analysis of the General Spherical Stewart Platform," Mech. Mach. Theory, 29(4), pp. 581-589.
10. Huang, Z., Tao, W.S., and Fang, Y.F., 1996, "Study of the Kinematic Characteristics of 3-dof In-Parallel Actuated Platform Mechanisms," Mech. Mach. Theory, 31(8), pp. 999-1007.
11. Vischer, P., and Clavel, R., 1998, "Kinematic Calibration of the Parallel Delta Robot," Robotica, 16, pp. 207-218.
12. Wang, J., and Gosselin, C.M., 1998, "Kinematic Analysis and Singularity Loci of Spatial Four-Degree-of-Freedom Parallel Manipulators Using a Vector Formulation," ASME J. Mech. Des., 120, pp. 555-558, Dec.
13. Zobel, P.B., Di Stefano, P., and Raparelli, T., 1996, "The Design of a 3 DOF Parallel Robot with Pneumatic Drives," In 27th ISIR, pages 707-710, Milan, October, 6-8.
14. Tsia, L.-W., 1996, "Kinematics of Three-DOF Platform with Three Extensible Limbs," In J. Lenarcic V. Parenti-Castelli, ed., Recent Advances in Robot Kinematics, pp. 401-410, Kluwer, 1996.
15. Mirova, T., and Vatkitchev, A., 1991, "Analysis of a Closed Space Mechanism with Three Degree of Mobility," In XI COBEM, Rio Janeiro.
16. Hervé, J.M., 1995, "Design of Parallel Manipulators via Displacement Group," Proceedings of the 9th World Congress on the Theory of Machines and Mechanisms, pp. 2079-2082.
17. Peruzzini, W., Ouellet, A., and Hui, R., 1995, "Design and Analysis of 3-DOF Parallel Manipulator," Proceedings of the 9th World Congress on the Theory of Machines and Mechanisms, pp. 2141-2145.
18. Cheng, H.H., and Thompson, S., 1999, "Singularity Analysis of Spatial Mechanisms Using Dual Polynomials and Complex Dual Numbers," ASME J. Mech. Des., 121, pp. 200-205.
19. Daniali, H.R.M., Zsombor-Murray, P.J., and Angeles, J., 1995, "Singularity Analysis of Planar Parallel Manipulators," Mech. Mach. Theory, 30(5), pp. 665-678.
20. Matone, R., and Roth, B., 1999, "In-Parallel Manipulators: A Framework on How to Model Actuation Schemes and a Study of their Effects on Singular Postures," ASME J. Mech. Des., 121, pp. 2-8.
21. Park, F.C., and Kil, J.W., 1999, "Singularity Analysis of Closed Kinematic Chains," ASME J. Mech. Des., 121, pp. 32-38.
22. Zlatanov, D., Fenton, R.G., and Benhabib, B., 1994, "A Unifying Framework for Classification and Interpretation of Mechanism Singularities," ASME J. Mech. Des., 117, pp. 566-572.
23. Merlet, J.-P., 1989, "Singular Configurations of Parallel Manipulators and Grassmann Geometry," Int. J. Robot. Res., 8(5), pp. 45-56, October.
24. Huang, Z., Zhao, Y.S., Wang, J., and Yu, J.J., 1999, "Kinematics Principle and Geometrical Condition of General-Linear-Complex Special Configuration of Parallel Manipulators," Mech. Mach. Theory, 34(8), pp. 1171-1186, November.
25. Hao, F., and McCarthy, J.M., 1998, "Conditions for Line-based Singularities in Spatial Platform Manipulators," J. Rob. Syst., 15(1), pp. 43-55.
26. Collins, C.L., and Long, G.L., 1995, "The Singularity Analysis of an Inparallel Hand Controller for Force-reflected Tele-operation," IEEE Trans. Rob. Autom., 11(5), pp. 661-669, October.
27. Podhorodesk, R.P., and Pittens, K.H., 1994, "A Class of Parallel Manipulators Based on Kinematically Simple Branches," ASME J. Mech. Des., 116, pp. 908-913.
28. Davies, T.H., 1983, "Mechanical Networks I, II, and III," Mech. Mach. Theory, 18(2), pp. 103-112.
29. Fayet, M., 1995, "Mécanismes Multiboucles I, II, and III," Mech. Mach. Theory, 30, pp. 201-252.
30. Innocenti, C., and Parenti-Castalli, V., 1991, "Direct Kinematics of the 6-4 Fully Parallel Manipulator with Position and Orientation Uncoupled," in European Robotics and Intelligent Systems Conf., Corfou, June 23-28.
31. Lur'é, L., 1968, Mécanique Analytique, Tome II, Masson et Cie Editeurs, Paris.