Kinematics analysis of a novel parallel manipulator

Mechanism and Machine Theory

Volumn 44, Issue 9, 2009, Pages 1648-1657

  Zhang, Yanbin ^a,b   Liu, Hongzhao ^a   Wu, Xin ^b  

^a XI'AN UNIVERSITY OF TECHNOLOGY   (China)

^b HENAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (China)

Author keywords

Condition number; Fully isotropic; Jacobian matrix; Kinematics analysis; Parallel manipulator; Singularity

Indexed keywords

CONDITION NUMBER; FULLY-ISOTROPIC; KINEMATICS ANALYSIS; PARALLEL MANIPULATOR; SINGULARITY;

INVERSE KINEMATICS; INVERSE PROBLEMS; JACOBIAN MATRICES; MACHINE DESIGN; MICROWAVE ACOUSTIC DEVICES; NUMBER THEORY;

MANIPULATORS;

EID: 67349285115     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechmachtheory.2009.01.006     Document Type: Article

References (39)

1. Stewart D. A platform with six degrees of freedom. Proc. Inst. Mech. Eng., Lond., UK 180 15 (1965) 371-386
2. Chen S.L., and You I.T. Kinematic and singularity analysis of a six DOF 6-3-3 parallel link machine tool. Int. J. Adv. Manuf. Technol. 16 (2000) 835-842
3. Bonev I.A., and Ryu J. A new approach to orientation workspace analysis of 6-DOF parallel manipulators. Mech. Mach. Theory 36 (2001) 15-28
4. Huang Z., and Li Q.C. Type synthesis of symmetrical lower-mobility parallel mechanisms using the constraint-synthesis method. Int. J. Robot. Res. 22 1 (2003) 59-79
5. Kong X., and Gosselin C.M. Type synthesis of 3-DOF translational parallel manipulators based on screw theory. ASME J. Mech. Des. 126 (2004) 83-92
6. Fang Y., and Tsai L.-W. Structure synthesis of a class of 4-DOF and 5-DOF parallel manipulators with identical limb structures. Int. J. Robot. Res. 21 9 (2002) 799-810
7. R. Clavel, Delta, a fast robot with parallel geometry, in: Proceedings of 18th International Symposium on Industrial Robots, Lausanne, France, 1988, pp. 91-100.
8. L.-W. Tsai, G.C. Walsh, R.E. Stamper, Kinematics of a novel three DOF translational platform, in: Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, 1996, pp. 3446-3451.
9. C. Gosselin, J. Hamel, The agile eye: a high-performance three-degree-of-freedom camera-orienting device, in: Proceedings of IEEE International Conference on Robotics and Automation, San Diego, 1994, pp. 781-786.
10. F. Sparacino, J.M. Hervé, Synthesis of parallel manipulators using Lie-groups Y-star and H-robot, in: Proceedings of IEEE International Workshop on Advanced Robotics, Tsukuba, Japan, 1993, pp. 75-80.
11. Chablat D., and Wenger P. Architecture optimization of a 3-DOF translational parallel mechanism for machining applications, the Orthoglide. IEEE Trans. on Robotics and Automation 19 3 (2003) 403-410
12. Kong X., and Gosselin C.M. Type synthesis of 3-DOF PPR-equivalent parallel manipulators based on screw theory and the concept of virtual chain. ASME J. Mech. Des 127 (2005) 1113-1121
13. Refaat S., Hervé J.M., Nahavandi S., et al. Asymmetrical three-DOFs rotational-translational parallel-kinematics mechanisms on Lie group theory. Eur. J. Mech. A/Solid 25 (2006) 550-558
14. Liu X.-J., Wang J., and Pritchow G. A new family of spatial 3-DOF fully-parallel manipulators with high rotational capability. Mech. Mach. Theory 40 (2005) 475-494
15. Jin Q., and Yang T.-L. Synthesis and analysis of a group of 3-degree-of-freedom partially decoupled parallel manipulators. ASME J. Mech. Des. 126 (2004) 301-306
16. Richard P.-L., Gosselin C.M., and Kong X. Kinematic analysis and prototyping of a partially decoupled 4-DOF 3T1R parallel manipulator. ASME J. Mech. Des. 129 (2007) 611-616
17. Kim H.S., and Tsai L.-W. Design optimization of a cartesian parallel manipulator. ASME J. Mech. Des. 125 (2003) 43-51
18. Li W., Gao F., and Zhang J. R. CUBE a decoupled parallel manipulator only with revolute joints. Mech. Mach. Theory 40 (2005) 467-473
19. Fassi I., Legnani G., and Tosi D. Geometrical conditions for the design of partial or full isotropic hexapods. J. Rob. Syst. 22 10 (2005) 507-518
20. Kong X., and Gosselin C.M. Type synthesis of linear translational parallel manipulators. In: Lenarčič J., and Thomas P. (Eds). Advances in Robot Kinematics: Theory and Application (2002), Kluwer Academic Publishers 453-462
21. Carricato M., and Parenti-Castelli V. Sigularity-free fully-isotropic translational parallel mechanisms. Int. J. Robot. Res. 21 2 (2002) 161-174
22. Carricato M. Fully-isotropic four degrees-of-freedom parallel mechanisms for Schöenflies motion. Int. J. Robot. Res. 24 5 (2005) 397-414
23. G. Gogu, Fully-isotropic over-constrained parallel wrists with two degrees of freedom, in: Proceedings of IEEE International Conference on Robotics and Automation, 2005, Barcelona, Spain, pp. 4014-4019.
24. Gogu G. Structural synthesis of fully-isotropic translational parallel robots via theory of linear transformations. Eur. J. Mech. A/Solid 23 6 (2004) 1021-1039
25. G. Gogu, Fully-isotropic T1R2-type parallel robots with three degrees of freedom, in: Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences - DETC2005, 2005, Long Beach, CA, USA, pp. 757-764.
26. G. Gogu, Fully-isotropic over-constrained planar parallel manipulators, in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2004, Sendai, Japan, pp. 3519-3524.
27. G. Gogu, Fully-isotropic three-degree-of-freedom parallel wrists, in: Proceedings of IEEE International Conference on Robotics and Automation, ICRA'07, 2007, Rome, Italy, pp. 895-900.
28. Gogu G. Structural synthesis of fully-isotropic parallel robots with Schöenflies motions via theory of linear transformations and evolutionary morphology. Eur. J. Mech., A/Solid 26 2 (2007) 242-269
29. G. Gogu, Fully-isotropic parallel robots with four degrees of freedom T2R2-type, in: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), 2005, Edmonton, pp. 1190-1195.
30. G. Gogu, Fully-isotropic parallel manipulators with five degrees of freedom, in: Proceedings of IEEE International Conference on Robotics and Automation, 2006, Orlando, Florida, pp. 1141-1146.
31. G. Gogu, Fully-isotropic hexapods, in: J. Lenarčič, B. Roth (Eds.), Advances in Robot Kinematics, Netherlands, 2006, pp. 323-330.
32. Jin Q., and Yang T.-L. Theory for topology synthesis of parallel manipulators and its application to three-dimension-translation parallel manipulators. ASME J. Mech. Des. 126 (2004) 625-639
33. X.-J. Liu, J. Kim, K.-K. Oh, Singularity analysis of the HALF parallel manipulator with revolute actuators, in: Proceedings of IEEE International Conference on Robotics and Automation, 2003, Taipei, Taiwan, pp. 767-772.
34. Gosselin C.M., and Wang J. Singularity loci of a special class of spherical three-degree-of-freedom parallel mechanisms with revolute actuators. Int. J. Robot. Res. 21 7 (2002) 649-659
35. Wang J., and Gosselin C.M. Singularity loci of a special class of spherical three-degree-of-freedom parallel mechanisms with prismatic actuators. ASME J. Mech. Des. 126 (2004) 319-326
36. Joshi S.A., and Tsai L.-W. Jacobian analysis of limited-DOF parallel manipulators. ASME J. Mech. Des. 124 (2002) 254-258
37. Gosselin C.M., and Angeles J. Singularity analysis of closed-loop kinematic chains. IEEE Trans. Robot. Automat. 6 3 (1990) 281-290
38. Angeles J. Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms (1987), Springer, New York
39. Fattah A., and Hasan Ghasemi A.M. Isotropic design of spatial parallel manipulators. Int. J. Robot. Res. 21 9 (2002) 811-824