메뉴 건너뛰기




Volumn 125, Issue 3, 2003, Pages 564-572

Investigation of parallel manipulators using linear complex approximation

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; APPROXIMATION THEORY; COMPUTATIONAL COMPLEXITY; CONSTRAINT THEORY; DEGREES OF FREEDOM (MECHANICS); KINEMATICS; MATHEMATICAL MODELS; MATRIX ALGEBRA; SCREWS;

EID: 0141842688     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.1582876     Document Type: Article
Times cited : (80)

References (37)
  • 1
    • 0024752019 scopus 로고
    • Singular configurations of parallel manipulators and grassman geometry
    • Merlet, J. P., 1992, "Singular Configurations of Parallel Manipulators and Grassman Geometry," Int. J. Robot. Res., 8(5), pp. 45-56.
    • (1992) Int. J. Robot. Res. , vol.8 , Issue.5 , pp. 45-56
    • Merlet, J.P.1
  • 2
    • 84965409419 scopus 로고
    • Structural kinematics of in-parallel-actuated robot arms
    • Hunt, K. H., 1983, "Structural Kinematics of In-Parallel-Actuated Robot Arms," ASME J. Mech. Des., 105(4), pp. 705-712.
    • (1983) ASME J. Mech. Des. , vol.105 , Issue.4 , pp. 705-712
    • Hunt, K.H.1
  • 3
    • 0343603366 scopus 로고    scopus 로고
    • Singularity analysis and representation of the general gaugh-stewart platform
    • St-Onge, B. M., and Gosselin, C. M., 2000, "Singularity Analysis and Representation of the General Gaugh-Stewart Platform," Int. J. Robot. Res., 19(3), pp. 271-288.
    • (2000) Int. J. Robot. Res. , vol.19 , Issue.3 , pp. 271-288
    • St-Onge, B.M.1    Gosselin, C.M.2
  • 4
    • 0032131894 scopus 로고    scopus 로고
    • Singularity-free path planning for the stewart platform manipulator
    • Dasgupta, B., and Mruthyunjaya, T. S., 1998, "Singularity-Free Path Planning for the Stewart Platform Manipulator," Mech. Mach. Theory, 33(6), pp. 711-725.
    • (1998) Mech. Mach. Theory , vol.33 , Issue.6 , pp. 711-725
    • Dasgupta, B.1    Mruthyunjaya, T.S.2
  • 5
    • 0025445470 scopus 로고
    • Singularity analysis of closed-loop kinematic chains
    • Gosselin, C., and Angeles, J., 1990, "Singularity Analysis of Closed-Loop Kinematic Chains," IEEE Trans. Rob. Autom., 6(3), pp. 281-290.
    • (1990) IEEE Trans. Rob. Autom. , vol.6 , Issue.3 , pp. 281-290
    • Gosselin, C.1    Angeles, J.2
  • 7
    • 0002442535 scopus 로고
    • Architecture singularities of parallel manipulators
    • Ma, O., and Angeles, J., 1992, "Architecture Singularities of Parallel Manipulators," Int. J. Robot. Res., 7(1), pp. 23-29.
    • (1992) Int. J. Robot. Res. , vol.7 , Issue.1 , pp. 23-29
    • Ma, O.1    Angeles, J.2
  • 8
    • 0029484875 scopus 로고
    • The isotropic design of two general classes of planar parallel manipulators
    • Mohammadi Daniali, H. R., Zsomobor-Murray, P. J., and Angeles, J., 1955, "The Isotropic Design of Two General Classes of Planar Parallel Manipulators," J. Rob. Syst., 12(2), pp. 795-805.
    • (1955) J. Rob. Syst. , vol.12 , Issue.2 , pp. 795-805
    • Daniali, M.H.R.1    Zsomobor-murray, P.J.2    Angeles, J.3
  • 9
    • 0029534611 scopus 로고
    • A unifying framework for classification and interpretation of mechanisms singularities
    • Zlatanov, D., Fenton, R. G., and Benhabib, B., 1995, "A Unifying Framework for Classification and Interpretation of Mechanisms Singularities," ASME J. Mech. Des., 117, pp. 566-572.
    • (1995) ASME J. Mech. Des. , vol.117 , pp. 566-572
    • Zlatanov, D.1    Fenton, R.G.2    Benhabib, B.3
  • 10
    • 0002126765 scopus 로고    scopus 로고
    • Singularity analysis and representation of spatial six-degree of freedom parallel manipulator
    • J. Lenarcic and V. Parenti-Castelli, eds., Kluwer Academic Publisher
    • Mayer St-Onge, B., and Gosselin, C. M., 1996, "Singularity Analysis and Representation of Spatial Six-Degree of Freedom Parallel Manipulator," Advances in Robot Kinematics (ARK), J. Lenarcic and V. Parenti-Castelli, eds., Kluwer Academic Publisher, pp. 389-398.
    • (1996) Advances in Robot Kinematics (ARK) , pp. 389-398
    • Mayer St.-Onge, B.1    Gosselin, C.M.2
  • 11
    • 0029304423 scopus 로고
    • On the quadratic nature of the singularity curves of planar three-degree-of-freedom parallel manipulators
    • Sefroui, J., and Gosselin, C. M., 1995, "On the Quadratic Nature of the Singularity Curves of Planar Three-Degree-of-Freedom Parallel Manipulators," Mech. Mach. Theory, 30(4), pp. 533-551.
    • (1995) Mech. Mach. Theory , vol.30 , Issue.4 , pp. 533-551
    • Sefroui, J.1    Gosselin, C.M.2
  • 12
    • 0032182496 scopus 로고    scopus 로고
    • The quartic singularity surface of planar platforms in the clifford algebra of the projective plane
    • Collins, C. L., and McCarthy, J. M., 1998, "The Quartic Singularity Surface of Planar Platforms in the Clifford Algebra of the Projective Plane," Mech. Mach. Theory, 33(7), pp. 931-944.
    • (1998) Mech. Mach. Theory , vol.33 , Issue.7 , pp. 931-944
    • Collins, C.L.1    McCarthy, J.M.2
  • 13
    • 85024531899 scopus 로고
    • Numerical analysis of the kinematic working capability of mechanisms
    • Feng-Cheng, Y., and Haug, E. J., 1994, "Numerical Analysis of the Kinematic Working Capability of Mechanisms," ASME J. Mech. Des., 116, pp. 111-117.
    • (1994) ASME J. Mech. Des. , vol.116 , pp. 111-117
    • Feng-Cheng, Y.1    Haug, E.J.2
  • 14
    • 0141746120 scopus 로고
    • Determination of singular points and their vicinity in parallel manipulators based on the transmission index
    • Funabashi, H., and Takeda, Y., 1995, "Determination of Singular Points and Their Vicinity in Parallel Manipulators Based on the Transmission Index," Ninth World Congress on the Theory of Machines and Mechanisms, pp. 1977-1981.
    • (1995) Ninth World Congress on the Theory of Machines and Mechanisms , pp. 1977-1981
    • Funabashi, H.1    Takeda, Y.2
  • 15
    • 0004695581 scopus 로고    scopus 로고
    • On self-motion of a class of parallel manipulators
    • J. Lenarcic and V. Parenti-Castelli, eds., Kluwer Academic Publisher
    • Karger, A., and Husty, M., 1996, "On Self-Motion of a Class of Parallel Manipulators," Advances in Robot Kinematics, J. Lenarcic and V. Parenti-Castelli, eds., Kluwer Academic Publisher, pp. 339-348.
    • (1996) Advances in Robot Kinematics , pp. 339-348
    • Karger, A.1    Husty, M.2
  • 16
    • 0042449300 scopus 로고    scopus 로고
    • Architecture singular parallel manipulators
    • J. Lenarcic and M. L. Husty, eds., Kluwer Academic Publisher
    • Karger, A., 1998, "Architecture Singular Parallel Manipulators," Advanced in Robot Kinematics: Analysis and Control, J. Lenarcic and M. L. Husty, eds., Kluwer Academic Publisher, pp. 445-454.
    • (1998) Advanced in Robot Kinematics: Analysis and Control , pp. 445-454
    • Karger, A.1
  • 17
    • 0004141806 scopus 로고
    • Parallel manipulators part 2: Theory, singular configurations and grassmann geometry
    • Rapport de Recherche INRIA No 791, F'evrier
    • Merlet, J. P., 1989, "Parallel Manipulators Part 2: Theory, Singular Configurations and Grassmann Geometry," Rapport de Recherche INRIA No 791, F'evrier.
    • (1989)
    • Merlet, J.P.1
  • 18
    • 0026844050 scopus 로고
    • On the infinitesimal motion of a parallel manipulator in singular configurations
    • Nice, France
    • Merlet, J. P., 1992, "On the Infinitesimal Motion of a Parallel Manipulator in Singular Configurations," IEEE Int. Conf. on Robotics and Automation, pp. 320-325, Nice, France.
    • (1992) IEEE Int. Conf. on Robotics and Automation , pp. 320-325
    • Merlet, J.P.1
  • 19
    • 0022737407 scopus 로고
    • A stewart platform-based manipulator: General theory and practical construction
    • Fichter, E. F., 1986, "A Stewart Platform-Based Manipulator: General Theory and Practical Construction," Int. J. Robot. Res., 5(2), pp. 155-182.
    • (1986) Int. J. Robot. Res. , vol.5 , Issue.2 , pp. 155-182
    • Fichter, E.F.1
  • 20
    • 0029394281 scopus 로고
    • The singularity analysis of an in-parallel hand controller for force-reflected teleoperation
    • Collins, C. L., and Long, G. L., 1995, "The Singularity Analysis of an In-Parallel Hand Controller for Force-Reflected Teleoperation," IEEE Trans. Rob. Autom., 11(5), pp. 661-669.
    • (1995) IEEE Trans. Rob. Autom. , vol.11 , Issue.5 , pp. 661-669
    • Collins, C.L.1    Long, G.L.2
  • 21
    • 0000491379 scopus 로고
    • The rigidity of compound spatial grid
    • Dandurand, A., 1984, "The Rigidity of Compound Spatial Grid," Structural Topology, 10, pp. 41-55.
    • (1984) Structural Topology , vol.10 , pp. 41-55
    • Dandurand, A.1
  • 22
    • 25044440942 scopus 로고    scopus 로고
    • Criteria for analysis of parallel robots
    • Doctoral Dissertation, Technion-Israeli Institute of Technology
    • Ben Horin, R., 1997, "Criteria for Analysis of Parallel Robots," Doctoral Dissertation, Technion-Israeli Institute of Technology.
    • (1997)
    • Ben Horin, R.1
  • 23
    • 0035356988 scopus 로고    scopus 로고
    • Singularity analysis of a class of composite serial in-parallel robots
    • Simaan, N., and Shoham, M., 2001, "Singularity Analysis of a Class of Composite Serial In-Parallel Robots," IEEE Trans. Rob. Autom., 17(3), pp.301-311.
    • (2001) IEEE Trans. Rob. Autom. , vol.17 , Issue.3 , pp. 301-311
    • Simaan, N.1    Shoham, M.2
  • 24
    • 0031678861 scopus 로고    scopus 로고
    • Conditions for line-based singularities in spatial platform manipulators
    • Hao, F., and McCarthy, J. M., 1998, "Conditions for Line-Based Singularities in Spatial Platform Manipulators," J. Rob. Syst., 15(1), pp. 43-55.
    • (1998) J. Rob. Syst. , vol.15 , Issue.1 , pp. 43-55
    • Hao, F.1    McCarthy, J.M.2
  • 25
    • 0003687565 scopus 로고
    • Kinematic geometry of mechanisms
    • Department of Mechanical Engineering, Monash University, Clayton, Victoria, Australia
    • Hunt, K. H., 1978, "Kinematic Geometry of Mechanisms," Department of Mechanical Engineering, Monash University, Clayton, Victoria, Australia.
    • (1978)
    • Hunt, K.H.1
  • 26
    • 0032642189 scopus 로고    scopus 로고
    • An introduction to line geometry with applications
    • Pottmann, H., Peternell, M., and Ravani, B., 1999, "An Introduction to Line Geometry With Applications," Comput.-Aided Des., 31, pp. 3-16.
    • (1999) Comput.-Aided Des. , vol.31 , pp. 3-16
    • Pottmann, H.1    Peternell, M.2    Ravani, B.3
  • 27
    • 0039737703 scopus 로고
    • Uber Liniengeometrie und Metrische Geometrie
    • Klein, F., 1871, "Uber Liniengeometrie und Metrische Geometrie," Mathematische Annalen, pp. 257-303.
    • (1871) Mathematische Annalen , pp. 257-303
    • Klein, F.1
  • 30
    • 0001416864 scopus 로고    scopus 로고
    • Kinematics and optimization of a spatial 3-UPU parallel manipulator
    • Tsai, L.-W., and Joshi, S., 2000, "Kinematics and Optimization of a Spatial 3-UPU Parallel Manipulator," ASME J. Mech. Des., 122(4), pp. 439-446.
    • (2000) ASME J. Mech. Des. , vol.122 , Issue.4 , pp. 439-446
    • Tsai, L.-W.1    Joshi, S.2
  • 31
    • 0001876023 scopus 로고    scopus 로고
    • Kinematics of a three-DOF platform with three extensible limbs
    • J. Lenarcic and V. Parenti-Castelli, eds., Kluwer Academic Publisher
    • Tsai, L.-W., 1996, "Kinematics of a Three-DOF Platform With Three Extensible Limbs," Advances in Robot Kinematics (ARK), J. Lenarcic and V. Parenti-Castelli, eds., Kluwer Academic Publisher, pp. 401-410.
    • (1996) Advances in Robot Kinematics (ARK) , pp. 401-410
    • Tsai, L.-W.1
  • 32
    • 0036623848 scopus 로고    scopus 로고
    • Mobility analysis of the 3-UPU parallel mechanism assembled in a pure translational motion
    • Di Gregorio, R., and Parenti-Castelli, V., 2002, "Mobility Analysis of the 3-UPU Parallel Mechanism Assembled in a Pure Translational Motion," ASME J. Mech. Des., 124, pp. 259-264.
    • (2002) ASME J. Mech. Des. , vol.124 , pp. 259-264
    • Di Gregorio, R.1    Parenti-Castelli, V.2
  • 33
    • 0002985427 scopus 로고    scopus 로고
    • The Jacobian analysis of a parallel manipulator using reciprocal screws
    • Lenarcic, J., and Husty, M. L., eds., Kluwer Academic Publishers
    • Tsai, L.-W., 1998, "The Jacobian Analysis of a Parallel Manipulator Using Reciprocal Screws," Advances in Robot Kinematics (ARK): Analysis and Control, Lenarcic, J., and Husty, M. L., eds., Kluwer Academic Publishers, pp. 327-336.
    • (1998) Advances in Robot Kinematics (ARK): Analysis and Control , pp. 327-336
    • Tsai, L.-W.1
  • 34
    • 0034469279 scopus 로고    scopus 로고
    • Workspace and optimal design of a pure translation parallel manipulator
    • (anche presentato al 14th Italian Congress on Theoretical and Applied Mechanics AIMETA, Como, Italy, October 6-9, 1999)
    • Parenti-Castelli, V., Di Gregorio, R., and Bubani, F., 2000, "Workspace and Optimal Design of a Pure Translation Parallel Manipulator," Meccanica 35, pp. 203-214; (anche presentato al 14th Italian Congress on Theoretical and Applied Mechanics AIMETA, Como, Italy, October 6-9, 1999).
    • (2000) Meccanica , vol.35 , pp. 203-214
    • Parenti-Castelli, V.1    Di Gregorio, R.2    Bubani, F.3
  • 36
    • 0141746119 scopus 로고    scopus 로고
    • The mystery of the singular SNU translational parallel robot
    • Bonev, I., and Zlatanov, D., 2001, "The Mystery of the Singular SNU Translational Parallel Robot," http://www.parallemic.org/Reviews/Review004.html.
    • (2001)
    • Bonev, I.1    Zlatanov, D.2
  • 37
    • 4243281151 scopus 로고    scopus 로고
    • Constraint singularities as configuration space singularities
    • Zlatanov, D., Bonev, I., and Gosselin, C., 2001, "Constraint Singularities as Configuration Space Singularities," http://www.parallemic.org/Reviews/Review008.html.
    • (2001)
    • Zlatanov, D.1    Bonev, I.2    Gosselin, C.3


* 이 정보는 Elsevier사의 SCOPUS DB에서 KISTI가 분석하여 추출한 것입니다.