Dimensional synthesis of a 3-translational-DOF in-parallel manipulator for a desired workspace

European Journal of Mechanics, A/Solids

Volumn 23, Issue 2, 2004, Pages 311-324

  Affi, Z ^a   Romdhane, L ^a   Maalej, A ^b  

^a Lab de Genie Mecan   (Tunisia)

^b Ecl Natl d'Ing De Sfax   (Tunisia)

Author keywords

3 translational DOF in parallel manipulator; Active workspace; Dimensional synthesis; Passive workspace

Indexed keywords

COMPUTATION THEORY; INTERSECTIONS; JOINTS (STRUCTURAL COMPONENTS); KINEMATICS; PROBLEM SOLVING; STIFFNESS;

3-TRANSLATIONAL-DOF IN PARALLEL MANIPULATORS; ACTIVE WORKSPACE; DIMENSIONAL SYNTHESIS; PASSIVE WORKSPACE;

MANIPULATORS;

EID: 2942519857     PISSN: 09977538     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.euromechsol.2004.01.003     Document Type: Article

References (25)

1. Affi, Z., et al., 2002. Dimensional synthesis of a 3-translational-DOF in parallel manipulators. In: Int. Congress on Advances Mechanical Engineering, Mars 18-20, Hammamet, Tunisia.
2. e Congrès Europe-Asie, October 9-11, Besançon, France.
3. Badescu M., et al. Workspace optimization of 3-UPU parallel platforms with joints constraints. Proc. IEEE. ICRA, Washington. 2002.
4. Bonev, I.A., Ryu, J., 1999. Workspace analysis of 6-PRRS parallel manipulators base on the vertex space concept, ASME, Design Engineering Technical Conferences.
5. Bonev I.A., Ryu J. A geometrical method for computing the constant-orientation workspace of 6-PRRS parallel manipulators. Mech. Mach. Theory. 36:2001;1-13.
6. Ceccarelli M. A synthesis algorithm for tree-revolute manipulators by using an algebraic formulation of workspace boundary. ASME J. Mech. Design. 117:1995;298-302.
7. Ceccarelli M. Designing tow-revolute manipulators for prescribed feasible workspace regions. ASME J. Mech. Design. 124:2002;427-434.
8. Clavel R. Delta, a fast robot with parallel geometry. Proc. of the 18th Int. Symp. of Robotic Manipulators. 1988;91-100 IFR Publication.
9. Dasgupta B., Mruthyunjaya T.S. The Stewart platform manipulator: a review. Mech. Mach. Theory. 35:2000;15-40.
10. Dibakar S., Mruthyunjaya T.S. A computational geometry approach for determination of boundary of workspaces of planar manipulators with arbitrary topology. Mech. Mach. Theory. 34:1999;149-169.
11. Gao F., Liu X.-J., Chen X. The relationships between the shapes of the workspaces and the link lengths of 3-DOF symmetrical planar parallel manipulators. Mech. Mach. Theory. 36:2001;205-220.
12. Gosselin C. Determination of the workspace of 6-DOF parallel manipulators. J. Mech. Design. 112:1990.
13. Goudali, A., 1995. Contribution à l'étude d'un nouveau robot parallèle 2-Delta à six degrés de liberté avec découplage. Thèse de doctorat, Poitiers, France.
14. Jo D.Y., et al. Workspace analysis of multibody mechanical systems using continuation methods. ASME J. Mech. Design. 111:1989;581-589.
15. Lallemand J.P., , et al. The 6-Dof 2-Delta parallel robot. Robotica. 15:1997;407-416.
16. Majid M.Z.A., , et al. Workspace of six-degrees of freedom, three-prismatic-spheric-revolute parallel manipulator. Int. J. Adv. Manufact. Technol. 16:2000;441-449.
17. Merlet J.P. Les robots parallèles. 1990;Hermes, France.
18. Merlet J.P., , et al. Workspace of planar parallel manipulators. Mech. Mach. Theory. 33:(1/2):1998;7-20.
19. Merlet J.P. An initiative for the kinematics of parallel manipulators. Proc. of the Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms an Manipulators, Quebec, Canada. 2002;2-9.
20. Romdhane L. Orientation workspace of fully parallel mechanisms. Eur. J. Mech. A Solids. 13:(4):1994.
21. Romdhane L. Design and analysis of a hybrid serial-parallel manipulator. Mech. Mach. Theory. 34:(7):1999;1037-1056.
22. Romdhane L., , et al. Design and singularity analysis of a 3 translational-DOF in-parallel manipulator. ASME J. Mech. Design. 124:2002;419-426.
23. Tsai L.W., Joshi S. Kinematics and optimization of a spatial 3-UPU parallel manipulator. ASME J. Mech. Design. 122:2000;439-446.
24. Verhoeven R., , et al. Workspace, stiffness, singularities and classification of tendon-driven Stewart platforms. ARK '98, 6th Int. Symp. on Advances in Robot Kinematics, Strobl, Austria. 1998;105-114.
25. Yang G., , et al. Design, and kinematic analysis of modular reconfigurable parallel robots. Proc. IEEE. ICRA, Michigan. 1999.