Synthesis and design of reactionless three-degree-of-freedom parallel mechanisms

IEEE Transactions on Robotics and Automation

Volumn 20, Issue 2, 2004, Pages 191-199

  Gosselin, Clément M ^a   Vollmer, Frank ^b   Côté, Gabriel ^c   Wu, Yangnian ^a  

^a UNIVERSITÉ LAVAL   (Canada)

^b DR ING H C F PORSCHE AG   (Germany)

^c NATIONAL RESEARCH COUNCIL CANADA   (Canada)

Author keywords

Dynamic balancing; Four bar linkages; Free floating mechanisms; Parallel mechanisms (PMs); Reactionless

Indexed keywords

ACTUATORS; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; MECHANISMS; OPTIMIZATION; ROBOTICS; SYSTEMS ANALYSIS; TORQUE; UNIVERSAL JOINTS;

DYNAMIC BALANCING; FOUR BAR LINKAGES; FREE FLOATING MECHANISMS; REACTIONLESS THREE DEGREE OF FREEDOM PARALLEL MECHANISMS;

MANIPULATORS;

EID: 1942532711     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRA.2004.824696     Document Type: Article

References (22)

1. R. Ricard and C. M. Gosselin, "On the development of reactionless parallel manipulators," in Proc. ASME Design Engineering Technical Conf. and Computers and Information in Engineering Conf., Baltimore, MD, Sept. 2000, Paper DETC2000/MECH-14098 [CD-ROM].
2. R. S. Berkof and G. G. Lowen, "A new method for completely force balancing simple linkages," ASME J. Eng. Ind., vol. 91, no. 1, pp. 21-26, 1969.
3. G. G. Lowen, F. F. Tepper, and R. S. Berkof, "Balancing of linkages - an update," Mech. Mach. Theory, vol. 18, no. 3, pp. 213-220, 1983.
4. H. Dresig et al., "Dynamics of mechanisms - rigid body mechanisms," VDI Richtlinien 2149 Part 1, p. 72, Oct. 1998.
5. I. S. Kochev, "General theory of complete shaking moment balancing of planar linkages: A critical review," Mech. Mach. Theory, vol. 35, no. 11, pp. 1501-1514, 2000.
6. F. Gao, "Complete shaking force and shaking moment balancing of four types of six-bar linages," Mech. Mach. Theory, vol. 24, no. 4, pp. 275-287, 1989.
7. C. Bagci, "Complete balancing of linkages using complete dynamical equivalents of floating links: CDEL method," in Proc. Flexible Mechanisms, Dynamics, and Analysis; 22nd Biennial Mechanisms, Conf., vol. DE-47, Sept. 1992, pp. 427-488.
8. C. Bagci, "Complete balancing of space mechanisms - shaking force balancing," ASME J. Mech., Transmission, Automat. Des., vol. 105, pp. 609-616, Dec. 1983.
9. Y. Q. Yu, "Research on complete shaking force and shaking moment balancing of spatial linkages," Mech. Mach. Theory, vol. 22, no. 1, pp. 27-37, 1987.
10. Y.Q. Yu, "Optimum shaking force and shaking moment balancing of the RSS'R spatial linkage," Mech. Mach. Theory, vol. 22, no. 1, pp. 34-45, 1987.
11. E. Papapoulos and A. Abu-Abed, "On the design of zero-reaction manipulators," ASME J. Mech. Des., vol. 118, no. 3, pp. 372-376, Sept. 1996.
12. I. S. Kochev, "Full shaking moment balancing of planar linkages by a prescribed input speed fluctuation," Mech. Mach. Theory, vol. 25, no. 4, pp. 459-466, 1990.
13. S. Dubowsky and M. A. Torres, "Path planning for space manipulators to minimize spacecraft attitude disturbances," in Proc. IEEE Inf. Conf. Robotics and Automation, Sacramento, CA, Apr. 1991, pp. 2522-2528.
14. E. Papadopoulos and S. Dubowsky, "Coordinated manipulators/spacecraft motion control for space robotic system," In Proc. IEEE Int. Conf. Robotics and Automation, Sacramento, CA, Apr. 1991, pp. 1696-1701.
15. G. Legnani, B. Zappa, R. Adamini, and F. Casolo, "A contribution to the dynamics of free-flying space manipulators," Mech. Mach. Theory, vol. 34, no. 3, pp. 359-372, 1999.
16. C. Bagci, "Complet shaking force and shaking momennt balancing of link mechanisms using balancing idler loops," ASME J. Mech. Des., vol. 104, pp. 482-493, Apr. 1982.
17. Y. Q. Yu, "Complete shaking force and shaking moment balancing of spatial irrebular force transmission mechanisms using additional links," Mech. Mach. Theory, vol. 23, no. 4, pp. 279-285, 1988.
18. F. Gao, "Complete shaking force and shaking moment balancing of spatial irregular force transmission mechanisms using additional links," Mech. Mach. Theory, vol. 23, no. 4, pp. 279-285, 1988.
19. F. Gao, "Complete shaking force and shaking moment balancing of 17 types of eight-bar linkages only with revolute pairs," Mech. Mach. Theory, vol. 26, no. 2, pp. 197-206, 1991.
20. Z. Ye and M. R. Smith, "Complete balancing of planar linkages by an equivalence method," Mech. Mach. Theory, vol. 29, no. 5, pp. 701-712, 1994.
21. M. Jean and C. M. Gosselin, "Static balancing of planar parallel manipulators," in Proc. IEEE Int. Conf. Robotics and Automation, vol. 4, Minneapolis, MN, 1996, pp. 3732-3737.
22. A. Bedford and W. Fowler, Engineering Mechanics: Dynamics. Reading, MA: Addison-Wesley, 1996.