Geometric algorithms for the computation of the constant-orientation workspace and singularity surfaces of a special 6-RUS parallel manipulator

ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2002

Volumn 5, Issue , 2002, Pages 505-514

  Bonev, Ilian A ^a   Gosselin, Clément M ^a  

^a UNIVERSITÉ LAVAL   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

BOHEMIAN DOMES; CIRCULAR TRACKS; GEOMETRIC ALGORITHM; KINEMATIC GEOMETRY; ORIENTATION WORKSPACE; PARALLEL MANIPULATORS; PARALLEL MECHANISMS; PHYSICAL CONSTRAINTS; SINGULARITY LOCI; WORKSPACE BOUNDARIES; CONSTANT-ORIENTATION WORKSPACES; HORIZONTAL CROSS SECTION;

GEOMETRY; MANIPULATORS; MECHANISMS;

TECHNICAL PRESENTATIONS; MANIPULATORS;

EID: 0036979928     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (10)

1. Bonev, I.A., and Ryu, J., 1999, "Workspace Analysis of 6- PRRS Parallel Manipulators Based on the Vertex Space Concept," Proceedings of the 1999 ASME Design Engineering Technical Conferences, Las Vegas, NV, USA, DETC99/DAC-8647.
2. Bonev, I.A., and Gosselin, C.M., 2000, "A Geometric Algorithm for the Computation of the Constant-Orientation Workspace of 6-RUS Parallel Manipulators," Proceedings of the 2000 ASME Design Engineering Technical Conferences, Baltimore, MD, USA, DETC00/MECH-14106.
3. Bonev, I.A., and Gosselin, C.M., 2001, "Singularity Loci of Planar Parallel Manipulators with Revolute Joints," 2nd Workshop on Computational Kinematics, Seoul, Korea, pp. 291-299.
4. Chi, Y.L., 1999, Systems and Methods Employing a Rotary Track for Machining and Manufacturing, WIPO Patent No. WO 99/38646.
5. Gosselin, C. M., 1990, "Determination of the Workspace of 6-DOF Parallel Manipulators," ASME Journal of Mechanical Design, Vol. 112, September, pp. 331-336.
6. Gosselin, C.M., and Angeles, J., 1990, "Singularity Analysis of Closed-Loop Kinematic Manipulators," IEEE Transactions on Robotics and Automation, Vol. 6, No. 3, June, pp. 281-290.
7. Hesselback, J., Helm, M.B., and Soetebier, S., 2002, "Workspace- Optimized Parallel Robot for Placing Tasks," Proceedings of the 2002 Parallel Kinematics Seminar, Chemnitz, Germany, April 23-25, pp. 697-714.
8. Ebert-Uphoff, I., Lee, J.-K., and Lipkin, H., 2000, "Characteristic Tetrahedron of Wrench Singularities for Parallel Manipulators with Three Legs," Proceedings of a Symposium Commemorating the Legacy, Works, and Life of Sir Robert Stawel Ball, Trinity College, Cambridge, UK.
9. Merlet, J.-P., 1989, "Singular Configurations of Parallel Manipulators and Grassmann Geometry," International Journal of Robotics Research, Vol. 8, No. 5, pp. 45-56.
10. Merlet, J.-P., 1994, "Détermination de l'espace de travail d'un robot parallèle pour une orientation constante," Mechanism and Machine Theory, Vol. 29, No. 8, pp. 1099-1113.