Designing and optimization of parameters of Delta-4 parallel manipulator for a given workspace

Journal of Robotic Systems

Volumn 20, Issue 9, 2003, Pages 539-548

  Kosinska, A ^a   Galicki, M ^b   Kedzior, K ^a  

^a WARSAW UNIVERSITY OF TECHNOLOGY   (Poland)

^b UNIVERSITY OF ZIELONA GÓRA   (Poland)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; EIGENVALUES AND EIGENFUNCTIONS; END EFFECTORS; KINEMATICS; MATRIX ALGEBRA; OPTIMIZATION; ROBOTIC ARMS;

PARALLEL MANIPULATOR; WORKSPACE;

MANIPULATORS;

EID: 0042788802     PISSN: 07412223     EISSN: None     Source Type: Journal    
DOI: 10.1002/rob.10104     Document Type: Article

References (19)

1. J.P. Merlet, Designing a parallel manipulator for a specific workspace, Rapport de recherché no. 2527, April 1995.
2. A. Kosinska and A. Morecki, Designing of parameters of Delta-4 manipulator for a workspace specified as a set of points (in Polish), XVII Polish National Conference on TMM, Warsaw-Jachranka, 2000.
3. A. Kosinska and A. Morecki, Planar parallel manipulator 3(RRR), designing of parameters for a specified trajectory (in Polish), 7th National Conference on Robotics, Ladek Zdroj, Poland, 2001.
4. S. Guerry, S. Regnier, and F.B. Ouezdou, Kinematic design of manipulators, Proceedings of Romansy 12, 12th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, 1998.
5. S. Guerry and F.B. Quezdou, Design of manipulators under dynamic and kinematic performances, Proceedings of Romansy 13, 13th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, 2000.
6. J. Lee, J. Duffy, and M. Keler, An investigation of a quality index for the stability of in-parallel planar platform devices, Proceedings of Romansy 11, 11th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, 1996.
7. Y. Zhang and J. Duffy, The optimum quality index for a redundant 4-4 in-parallel manipulator, Proceedings of Romansy 12, 12th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, 1998.
8. A. Bowling and O. Khatib, Analysis of the acceleration characteristics of manipulators, Proceedings of Romansy 10, 10th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, 1994.
9. A. Ghosal and B. Ravani, Geometric characterization of velocity distribution in manipulators, Proceedings of Romansy 12, 12th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, 1998.
10. D. Chablat and P. Wenger, Moveability and collision analysis for fully-parallel manipulators, Proceedings of Romansy 12, 12th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, 1998.
11. R. Matone and B. Roth, Designing manipulators for both kinematic and dynamic isotropic properties, Proceedings of Romansy 11, 11th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, 1996.
12. A. Tremblain and L. Baron, Geometrical synthesis of parallel manipulators of star-like topology with a genetic algorithm, IEEE International Conference on Robotics and Automation, Detroit, MI, 1999.
13. R. Boudreau and C.M. Gosselin, The synthesis of planar parallel manipulators with a genetic algorithm. J Mech Des ASME (1999), 535-537.
14. M. Gallant and R. Boudreau, The synthesis of planar parallel manipulators with prismatic joints for an optimal, singularity-free workspace. J Robot Syst 19:(1) (2002), 13-24.
15. L. Baron, A genetic algorithms for computing the real solutions of the inverse kinematics of serial manipulators, Proceedings of the 10th World Congress on the Theory of Machines and Mechanisms, Oulu, Finland, 20-24 June 1999.
16. J.P. Merlet, Parallel robots, Kluwer Academic, Dordrecht, 2000, p. 133.
17. L.W. Tsai, Robot analysis. The mechanics of serial and parallel manipulators, Wiley, New York, 1999.
18. R.E. Stamper, Three degree of freedom parallel manipulator with only translational degrees of freedom, Ph.D. thesis, University of Maryland, 1997.
19. R. Clavel and K. Miller, The Lagrange-based model of Delta-4 robot dynamics, Robotersysteme 8 (1992), 49-54.