Analytical approach for optimal design of a type of spherical parallel manipulator using dexterous performance indices

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

Volumn 217, Issue 4, 2003, Pages 447-456

  Huang, T ^a   Gosselin, C M ^b   Whitehouse, D J ^c   Chetwynd, D G ^c  

^a TIANJIN UNIVERSITY   (China)

^b UNIVERSITÉ LAVAL   (Canada)

^c UNIVERSITY OF WARWICK   (United Kingdom)

Author keywords

Dexterity; Force transmissions; Optimal design; Spherical parallel manipulator

Indexed keywords

MANIPULATORS; MATRIX ALGEBRA; NUMERICAL METHODS; STRUCTURAL DESIGN;

SPHERICAL PARALLEL MANIPULATORS;

MECHANICAL ENGINEERING;

DESIGN;

EID: 0142260416     PISSN: 09544062     EISSN: None     Source Type: Journal    
DOI: 10.1243/095440603321509720     Document Type: Article

References (18)

1. Asada, H. and Cro Granito, J. A. Kinematic and static characteristics of wrist joints and their optimal design. In Proceedings of the IEEE International Conference on Robotics and Automation, St Louis, Missouri, 1985, pp. 244-250.
2. Gosselin, C. M. and Angeles, J. The optimum kinematic design of a spherical 3-DOF parallel manipulator. Trans. ASME, J. Mechanism, Transmission and Automn in Des., 1989, 111(2), 202-207.
3. Gosselin, C. M. and Lavoie, E. On the development of spherical 3-DOF parallel manipulators. Int. J. Robotic Res., 1993, 12(4), 394-402.
4. Gosselin, C. M. and Hamel, J. F. The Agile Eye: a high performance 3-DOF camera orientating device. In Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, California, 1994, pp. 781-86.
5. Gosselin, C. M. On the development of the Agile Eye. IEEE Robotic and Automn Mag., 1996, 12(6), 29-37.
6. Gosselin, C. M. and St-Pierre, E. Development and experimentation of a fast 3-DOF camera-orientating device. Int. J. Robotic Res., 1997, 16(5), 619-630.
7. Zanganeh, K. and Angeles, J. Kinematic isotropy and the optimum design of parallel manipulators. Int. J. Robotics Res., 1997, 6(2), 185-197.
8. Huang, T., Whitehouse, D. J. and Wang, J. S. Local dexterity, optimum architecture and design criteria of parallel machine tools. CIRP Ann., 1998, 47(1), 347-351.
9. Singh, J. R. and Rastegar, J. Optimal synthesis of robot manipulators based on global kinematic parameters. Mech. Mach. Theory, 1995, 30(4), 569-580.
10. Huang, T., Wang. J. S. and Whitehouse, D. J. Closed form solution to position workspace of Stewart parallel manipulators. Sci. in China, Ser. (E), 1998, 41(4), 394-403.
11. Huang, T., Wang, J. S. and Whitehouse, D. J. Theory and methodology for kinematic design of Gough-Stewart platforms. Sci. in China, Ser. (E), 1999, 42(4), 425-436.
12. Huang, T., Wang, J. S. and Whitehouse, D. J. Closed form solution to the workspace of hexapod-based virtual axis machine tools. Trans. ASME, J. Mech. Des., 1999, 121(1), 26-31.
13. Salisbury, J. K. and Craig, J. J. Artificial hands: force control and kinematic issues. Int. J. Robotic Res., 1983, 1(1), 4-17.
14. Gosselin, C. M. and Angeles, J. A global performance index for the kinematic optimization of robotic manipulators. Trans. ASME, J. Mech. Des., 1991, 113(3), 220-226.
15. Huang, T., Wang, J. S., Gosselin, C.M. and Whitehouse, D. J. Kinematic synthesis of hexapods with prescribed orientation capability and well-conditioned dexterity. SME J. Mfg. Processes, 2000, 2(1), 36-47.
16. Gosselin, C. M. The optimum design of robotic manipulators using dexterity indices. J. Robotics and Autonomous Systems, 1993, 9(4), 213-226.
17. Gosselin, C. M., Perreault, L. and Vaillancourt, C. Simulation and computer-aided kinematic design of 3-DOF spherical parallel manipulators. J. Robotic Systems, 1995, 12(12), 857-869.
18. Huang, T., Wang, J. S., Gosselin, C.M. and Whitehouse, D. J. Closed form solution to the 2-D orientation workspace of Gough-Stewart parallel manipulators. IEEE Trans. Robotics and Automn, 1999, 15(6), 2111-2115.