The design of isotropic 6-DOF parallel manipulators using isotropy generators

Mechanism and Machine Theory

Volumn 38, Issue 11, 2003, Pages 1199-1214

  Tsai, K Y ^a   Huang, K D ^b  

^a NATIONAL TAIWAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Taiwan)

^b TECHNOLOGY AND SCIENCE INSTITUTE OF NORTHERN TAIWAN   (Taiwan)

Author keywords

[No Author keywords available]

Indexed keywords

MACHINE DESIGN; NONLINEAR EQUATIONS; TORQUE; VELOCITY;

ISOTROPIC MANIPULATORS;

MANIPULATORS;

EID: 0041621688     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0094-114X(03)00067-3     Document Type: Article

References (11)

1. Gosselin C., Angeles J. The optimum kinematic design of a planar three-degree-of-freedom parallel manipulator. Trans. ASME J. Mech. Transm. Automat. Des. 110:1988;35-41.
2. Klein C.A., Miklos T.A. Spatial robotic isotropy. Int. J. Robot. Res. 10(4):1991;426-437.
3. Angeles J. The design of isotropic manipulator architectures in the presence of redundancies. Int. J. Robot. Res. 11(3):1992;196-201.
4. Zanganeh K.E., Angeles J. Kinematic isotropy and the optimum design of parallel manipulators. Int. J. Robot. Res. 16(2):1997;185-197.
5. Kircanski M. Kinematic isotropy and optimal kinematic design of planar manipulators and a 3-DOF spatial manipulator. Int. J. Robot. Res. 15(1):1996;61-77.
6. Lipkin H., Duffy J. Hybrid twits and wrench control for a robotic manipulator. ASME J. Mech. Transm. Automat. Des. 110:1988;134-144.
7. Marescotti A.A., Bonivento C., Melchiorri C. On the invariance of the hybrid position/face control. Int. J. Intell. Robot. Syst. 3:1990;233-250.
8. Dot K.L. Robot manipulability. IEEE Trans. Robot. Automat. 11(3):1995;462-468.
9. Park F.C., Kim J.W. Manipulability of closed kinematic chains. ASME J. Mech. Des. 120:1998;542-548.
10. Waldrom K.J., Hunt K.H. Series-parallel dualities in actively coordinated mechanisms. Int. J. Robot. Res. 10(5):1991;473-481.
11. M. A. Gonzalez-Palacios, J. Angeles, F. Ranjbaran, The kinematic synthesis of serial manipulators with a prescribed Jacobian, in: Proc. IEEE Int. Conf. on Robot. and Automation, May 2-6, Atlanta, vol. 1, pp. 450-455, 1993.