Force-unconstrained poses for a redundantly-actuated planar parallel manipulator

Mechanism and Machine Theory

Volumn 39, Issue 5, 2004, Pages 459-476

  Firmani, Flavio ^a   Podhorodeski, Ron P ^a  

^a UNIVERSITY OF VICTORIA   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; DEGREES OF FREEDOM (MECHANICS); FUNCTIONS; JOINTS (STRUCTURAL COMPONENTS); KINEMATICS; MATHEMATICAL MODELS; MATHEMATICAL TRANSFORMATIONS; MATRIX ALGEBRA; VECTORS;

DEGENERACIES; RECIPROCAL SCREW QUANTITIES;

MANIPULATORS;

EID: 1542637344     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechmachtheory.2003.11.002     Document Type: Article

References (21)

1. Merlet J.P. Singular configurations of parallel manipulators and Grassmann geometry. The International Journal of Robotics Research. 8(5):1989;45-56.
2. Gosselin C., Angeles J. Singularity analysis of closed-loop kinematic chains. IEEE Transactions on Robotics and Automation. 6:1990;281-290.
3. Mohammadi-Daniali H.R., Zsombor-Murray P.J., Angeles J. Singularity analysis of planar parallel manipulators. Mechanism and Machine Theory. 30(5):1995;665-678.
4. O. Ma, J. Angeles, Architecture singularities of platform manipulators, in: IEEE International Conference on Robotics and Automation, Sacramento, CA, 1991, pp. 1542-1547.
5. I.A. Bonev, C.M. Gosselin, Singularity loci of planar parallel manipulators with revolute joints, in: Proc. of the 2nd Workshop on Computational Kinematics, Seoul, Korea, 2001, pp. 291-299.
6. Sefrioui J., Gosselin C. On the quadratic nature of the singularity curves of planar three-degree-of-freedom parallel manipulators. Mechanism and Machine Theory. 30(4):1995;533-551.
7. V.K. Chan, I. Ebert-Uphoff, Investigation of the deficiencies of parallel manipulators in singular configurations through the Jacobian nullspace, in: IEEE International Conference on Robotics and Automation, Seoul, Korea, 2001, pp. 1313-1320.
8. L. Notash, R.P. Podhorodeski, Uncertainty configurations of three-branch manipulators: identification and elimination, in: ASME 23rd Biennial Mechanisms Conference, Minneapolis, MN, 1994, pp. 459-466.
9. Notash L., Podhorodeski R.P. Forward displacement analysis and uncertainty configurations of parallel manipulators with a redundant branch. Journal of Robotic Systems. 13(9):1996;587-601.
10. C.L. Collins, Singularity analysis and design of parallel manipulators, Ph.D. Thesis, Mechanical and Aerospace Engineering, University of California, Irvine, 1997.
11. Dasgupta B., Mruthyunjaya T.S. Force redundancy in parallel manipulators: theoretical and practical issues. Mechanism and Machine Theory. 33(6):1998;727-742.
12. V.K. Chan, Singularity analysis and redundant actuation of parallel manipulators, M.Sc. Thesis, Georgia Institute of Technology, March 2001.
13. Woo L.S., Freudenstein F. Application of line geometry to theoretical kinematics and the kinematic analysis of mechanical systems. Transactions of the ASME, Journal Mechanisms. 5:1970;417-460.
14. B. Roth, Screws, motors, and wrenches that cannot be bought in a hardware store, in: Proceedings of the 1st International Symposium on Robotics Research, June 1984, pp. 679-693.
15. Hunt K.H. Kinematic Geometry of Mechanisms. 1978;Oxford University Press, Toronto.
16. I.A. Bonev, Geometric analysis of parallel mechanisms, Ph.D. thesis, Laval University, Quebec, Canada, November 2002.
17. Bonev I.A., Zlatanov D., Gosselin C.M. Singularity analysis of 3-dof planar parallel mechanisms via screw theory. Journal of Mechanical Design. 125(3):2003;573-581.
18. Tsai L.W. Robot Analysis, The Mechanics of Serial and Parallel Manipulators. 1999;Wiley-Interscience, Toronto.
19. R. Fisher, R.P. Podhorodeski, S.B. Nokleby, A reconfigurable planar parallel manipulator (rppm), in: Proceeding of the 2001 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Montreal, QC, Canada, 2001.
20. Craig J.J. Introduction to Robotics, Mechanism and Control. second ed. 1987;Addison-Wesley, Don Mills, Ontario.
21. Denavit J., Hartenberg R.S. A kinematic notation for lower-pair mechanisms based on matrices. Transactions of the ASME, Journal of Applied Mechanics. (June):1955;215-221.