Kinematic analysis of 5-RPUR (3T2R) parallel mechanisms

Meccanica

Volumn 46, Issue 1, 2011, Pages 131-146

  Tale Masouleh, Mehdi ^a   Gosselin, Clément ^a   Saadatzi, Mohammad Hossein ^b   Kong, Xianwen ^c   Taghirad, Hamid D ^b  

^a UNIVERSITÉ LAVAL   (Canada)

^b K N TOOSI UNIVERSITY OF TECHNOLOGY   (Iran)

^c HERIOT WATT UNIVERSITY   (United Kingdom)

Author keywords

5 DOF parallel mechanisms; Bohemian dome; Constant orientation workspace; Forward kinematic problem

Indexed keywords

BOHEMIAN DOME; CLOSED FORM SOLUTIONS; CONSTANT-ORIENTATION WORKSPACE; CONSTRUCTIVE APPROACH; FORWARD KINEMATIC PROBLEM; FORWARD KINEMATICS; KINEMATIC ANALYSIS; KINEMATIC PROPERTIES; ORIENTATION WORKSPACE; PARALLEL MECHANISMS; STEWART PLATFORMS; TYPE SYNTHESIS; UNIVARIATE;

DOMES; INVERSE KINEMATICS;

MECHANISMS;

EID: 79751539066     PISSN: 00256455     EISSN: None     Source Type: Journal    
DOI: 10.1007/s11012-010-9393-x     Document Type: Article

References (32)

1. Parallelmic, http://www.parallemic.org/
2. Bonev IA (2002) Geometric analysis of parallel mechanisms. PhD thesis, Laval University, Quebec, QC, Canada
3. Bonev IA, Gosselin CM (2000) Geometric algorithms for the computation of the constant-orientation workspace and singularity surface of a special 6-RUS parallel manipulator. In: Proceedings of the 2000 ASME design engineering technical conferences, DETC2002/MECH-34257, Montreal, QC, Canada (2002)
4. IA Bonev J Ryu 2001 A geometrical method for computing the constant-orientation workspace of 6-PRRS parallel manipulators Mech Mach Theory 36 1 1 13 1140.70312 10.1016/S0094-114X(00)00031-8
5. Cheng L, Wang H, Zhao Y (2008) Analysis and experimental investigation of parallel machine tool with redundant actuation. In: Proceedings of the first international conference on intelligent robotics and applications: part I. Springer, Berlin, pp 179-188
6. Y Fang LW Tsai 2002 Structure synthesis of a class of 4-DoF and 5-DoF parallel manipulators with identical limb structures Int J Robot Res 21 9 799 810 10.1177/0278364902021009314
7. F Gao B Peng H Zhao W Li 2006 A novel 5-DOF fully parallel kinematic machine tool Int. J. Adv Manuf Technol 31 1 201 207 10.1007/s00170-005-0171-1 (Pubitemid 44631997)
8. C Gosselin 1990 Determination of the workspace of 6-DOF parallel manipulators ASME J Mech Des 112 3 331 336 10.1115/1.2912612
9. C Gosselin JP Merlet 1994 The direct kinematics of planar parallel manipulators: special architectures and number of solutions Mech Mach Theory 29 8 1083 1097 10.1016/0094-114X(94)90001-9
10. Huang Z, Li QC (2001) A decoupled 5-DoF symmetrical parallel mechanism, Patent pending, China, No 01122274.3
11. Z Huang QC Li 2002 General methodology for type synthesis of symmetrical lower-mobility parallel manipulators and several novel manipulators Int J Robot Res 21 2 131 145 10.1177/027836402760475342
12. Z Huang QC Li 2003 Type synthesis of symmetrical lower-mobility parallel mechanisms using the constraint-synthesis method Int J Robot Res 22 1 59 79
13. Hunt KH (1979) Kinematic geometry of mechanisms. Oxford engineering science series, vol 7
14. ML Husty 1996 An algorithm for solving the direct kinematics of general Stewart-Gough platforms Mech Mach Theory 31 4 365 379 10.1016/0094-114X(95) 00091-C (Pubitemid 126362635)
15. Husty ML, Zsombor-Murray P (1994) A special type of singular Stewart-Gough platform. In: Advances in robot kinematics and computational geometry, pp 449-458
16. C Innocenti 2001 Forward kinematics in polynomial form of the general Stewart platform ASME J Mech Des 123 2 254 260 10.1115/1.1348018 (Pubitemid 33716205)
17. Jin Q, Yang TL, Liu AX, Shen HP, Yao FH (2001) Structure synthesis of a class of 5-DOF parallel robot mechanisms based on single opened-chain units. In: Proceedings of the 2001 ASME conferences. DETC2001/DAC-21153. Pittsburgh, PA (2001)
18. X Kong C Gosselin 2005 Type synthesis of 5-DOF parallel manipulators based on screw theory J Robot Syst 22 10 535 547 1133.70304 10.1002/rob.20084 (Pubitemid 41638104)
19. Kong X, Gosselin C (2007) Type synthesis of parallel mechanisms, vol 33. Springer, Heidelberg
20. Lipkin H, Duffy J (1985) A vector analysis of robot manipulators. In: Recent advances in robotics. Wiley, New York, pp 175-241
21. Mbarek T, Barmann I, Corves B (2004) Fully parallel structures with five degree of freedom: systematic classification and determination of workspace. In: Proceedings mechatronics & robotics, pp 990-995
22. Merlet JP (1993) Algebraic-geometry tools for the study of kinematics of parallel manipulators. In: Angeles c J, Hommel G, Kovacs P (eds) Computational kinematics. Kluwer Academic, Dordrecht, pp 183-194
23. Merlet JP (1999) Parallel robots- open problems. In: 9th Int Symp of Robotics Research, pp 27-32
24. Merlet JP (2006) Parallel robots. Springer, Berlin
25. O Piccin B Bayle B Maurin M de Mathelin 2009 Kinematic modeling of a 5-DOF parallel mechanism for semi-spherical workspace Mech Mach Theory 44 8 1485 1496 1178.70049 10.1016/j.mechmachtheory.2008.11.012
26. Tale Masouleh M, Gosselin C (2009) Singularity analysis of 5-RPRRR parallel mechanisms via Grassmann line geometry. In: Proceedings of the 2009 ASME design engineering technical conferences. DETC2009-86261
27. Tale Masouleh M, Gosselin C (2008) Kinematic analysis and singularity representation of 5-RPRRR parallel mechanisms. In: Fundamental issues and future research directions for parallel mechanisms and manipulators Montpellier, France, (2008), pp 79-90.
28. Tale Masouleh M, Husty M, Gosselin C (2010) A general methodology for the forward kinematic problem of symmetrical parallel mechanisms and application to 5-PRUR parallel mechanisms (3T2R). In: Proceedings of the 2010 ASME design engineering technical conferences, DETC2010-28222
29. Tale Masouleh M, Husty M, Gosselin C (2010) Forward kinematic problem of 5-PRUR parallel mechanisms using study parameters. In: Advances in robot kinematics: motion in man and machine. Springer, Berlin, pp 211-221
30. Tale Masouleh M, Saadatzi MH, Gosselin C, Taghirad HD (2010) A Geometric constructive approach for the workspace analysis of symmetrical 5-PRUR parallel mechanisms (3T2R). In: Proceedings of the 2010 ASME design engineering technical conferences. DETC2010-28509
31. J Wang C Gosselin 1997 Kinematic analysis and singularity representation of spatial five-degree-of-freedom parallel mechanisms J Robot Syst 14 12 851 869 0911.70004 10.1002/(SICI)1097-4563(199712)14:12<851::AID-ROB3>3.0.CO;2-T (Pubitemid 127645735)
32. SJ Zhu Z Huang 2007 Eighteen fully symmetrical 5-DoF 3R2T parallel manipulators with better actuating modes Int J Adv Manuf Technol 34 3 406 412 10.1007/s00170-006-0604-5 (Pubitemid 350092352)