Structure synthesis of a class of 4-DoF and 5-DoF parallel manipulators with identical limb structures

International Journal of Robotics Research

Volumn 21, Issue 9, 2002, Pages 799-810

  Fang, Yuefa ^a   Tsai, Lung Wen ^b  

^a BEIJING JIAOTONG UNIVERSITY   (China)

^b University of California Riverside   (United States)

Author keywords

Parallel robots; Screw theory; Singularity avoidance; Structure synthesis

Indexed keywords

COLLISION AVOIDANCE; DEGREES OF FREEDOM (MECHANICS); ROBOTS; STRUCTURAL ANALYSIS;

PARALLEL MANIPULATORS;

MANIPULATORS;

EID: 0036768001     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/027836402128964657     Document Type: Article

References (28)

1. Ball, R. S. 1900. A Treatise on the Theory of Screws, Cambridge University Press, Cambridge.
2. Chen, W. J., Zhao, M. Y., Zhou, J. P., and Qin, Y. F. 2002. A 2T-2R, 4-DoF Parallel Manipulator. In CD-ROM Proceedings, 2002 ASME DETC/CIE, Montreal, Canada, DETC2002/MECH-34303.
3. Clavel, R. 1988. DELTA, A Fast Robot with Parallel Geometry. In Proc. 18th Int. Symposium on Industrial Robot, Lausanne, pp. 91-100.
4. Company, O., and Pierrot, F. 1999. A New 3T-1R Parallel Robot. In Proc. Int. Conf. on Robotics and Automation, Tokyo, Japan, 25-27 October 1999, pp. 557-562.
5. Gosselin, C., and Angeles, J. 1989. The Optimum Kinematic Design of a Spherical Three-Degree-of-Freedom Parallel Manipulator. ASME Transactions, Journal of Mechanisms, Transmissions, and Automation in Design 111(2): 202207.
6. Hao, F., and McCarthy, J. M. 1998. Conditions for Line-Based Singularities in Spatial Platform Manipulators. Journal of Robotic Systems 15(1): 43-55.
7. Hesselbach, J., Plitea, N., Frindt, M., and Kusiek, A. 1998. A New Parallel Mechanism to Use for Cutting Convex Glass Panels. In Advances in Robot Kinematics, J. Lenarcic and M. L. Husty, eds., Kluwer Academic, London, pp. 165-174.
8. Huang, Z., and Li, Q. C. 2002. Some Novel Lower-Mobility Parallel Mechanisms. In CD-ROM Proceedings, 2002 ASME DETC/CTE, Montreal, Canada, DETC2002/MECH-34299.
9. Hunt, K. 1978. Kinematic Geometry of Mechanisms, Oxford University Press, New York.
10. Hunt, K. H. 1983. Structural Kinematics of In-Parallel-Actuated Robot-Arms. ASME Transactions, Journal of Mechanisms, Transmissions, and Automation in Design 105(4): 705-712.
11. Joshi, S. A., and Tsai, L. W. 2002. Jacobian Analysis of Limited-DoF Parallel Manipulators. ASME Transactions, Journal of Mechanical Design 124(2): 254-258.
12. Karouia, M., and Hervé, J. M. 2000. A Three-DoF Tripod For Generating Spherical Rotation. In Advances in Robot Kinematics, J. Lenarcic and M. M. Stanisic, eds., Kluwer Academic, London, pp. 395-4020.
13. Lee, M. K., and Park, K. W. 1999. Kinematics and Dynamics Analysis of a Double Parallel Manipulator for Enlarging Workspace and Avoiding Singularities. IEEE Transaction on Robotics and Automation 15(6):1024-1034.
14. Lenarcic, J., Stanisic, M. M., and Parenti-Castelli V. 2000. A 4-DoF Parallel Mechanism Simulating the Movement of the Human Sternum-Clavicle-Scapula Complex. In Advances in Robot Kinematics, J. Lenarcic and M. M. Stanisic, eds., Kluwer Academic, London, pp. 325-332.
15. Merlet, J. P. 1989. Singular Configurations of Parallel Manipulators and Grassmann Geometry. International Journal of Robotics Research 8(5):45-56.
16. Merlet, J. P., Perng, M. W., and Daney, D. 2000. Optimal Trajectory Planning of A 5-Axis Machine Tool Based on a 6-Axis Parallel Manipulator. In Advances in Robot Kinematics, J. Lenarcic and M. M. Stanisic, eds., Kluwer Academic, London, pp. 315-322.
17. Pierrot, F., and Company O. 1999. H4: A New Family of 4-dof Parallel Robots. In Proc. IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, Atlanta, Georgia, pp. 508-513.
18. Pierrot, F., Marquet, F., Company O., and Gil T. 2001. H4 Parallel Robot: Modeling, Design and Preliminary Experiments. In Proc. IEEE Int. Conf. on Robotics and Automation, Seoul, Korea.
19. Rolland, L. H. 1999. The Manta and the Kanuk Novel 4DoF Parallel Mechanisms for Industrial Handling. In Proc. ASME Int. Conf. on Mechanical Engineering, Nashville, TN, November 1999.
20. Tanev, T. K. 1998. Forward Displacement Analysis of a Three Legged Four-Degree-of- Freedom Parallel Manipulator. In Advances in Robot Kinematics, J. Lenarcic and M. L. Husty, eds., Kluwer Academic, London, pp. 147-154.
21. Tsai, L. W. 1996. Kinematics of a Three-DoF Platform Manipulator with Three Extensible Limbs. In Recent Advances in Robot Kinematics, J. Lenarcic and V. Parenti-Castelli, eds., Kluwer Academic, London, pp. 401-410.
22. Tsai, L. W. 1998. Systematic Enumeration of Parallel Manipulators. In Parallel Kinematic Machines, C. R. Boer et al., eds., Springer, Berlin, pp. 33-50.
23. Tsai, L.W. 1999. Robot Analysis: The Mechanics of Serial and Parallel Manipulators, Wiley, New York.
24. Tsai, L. W., Walsh, G. C., and Stamper, R. E. 1996. Kinematics of a Novel Three DoF Translational Platform. In Proc. 1996 IEEE Int. Conf. on Robotics and Automation, Minneapolis, MN, pp. 3446-3451.
25. Wang, J., and Gosselin, C. M. 1997. Kinematic Analysis and Singularity Representation of Spatial Five-Degree-of- Freedom Parallel Mechanisms. Journal of Robotic Systems 14(12):851-869.
26. Wang, J., and Gosselin, C.M. 1988. Kinematic Analysis and Singularity Loci of Spatial Four-Degree-of-Freedom Parallel Manipulators Using a Vector Formulation. ASME Transactions, Journal of Mechanical Design 120(4):555-558.
27. Zhang, D., and Gosselin, C. M. 2001. Kinetostatic Modeling of N-DoF Parallel Mechanisms with a Passive Constraining Leg and Prismatic Actuators. ASME Transactions, Journal of Mechanical Design 123(3):375-381.
28. Zlatanov, D., and Gosselin, C. M. 2001. A Family of New Parallel Architectures with Four Degrees of Freedom. Journal of Computational Kinematics, F. C. Park and C. C. Iurascu, eds., pp. 57-66.