Kinematics analysis of a novel parallel manipulator

2009 ◽  
Vol 44 (9) ◽  
pp. 1648-1657 ◽  
Author(s):  
Yanbin Zhang ◽  
Hongzhao Liu ◽  
Xin Wu
Keyword(s):  
Parallel Manipulator ◽  
Kinematics Analysis

Parametric Design of a Spherical Eight-Bar Linkage Based on a Spherical Parallel Manipulator

2008 ◽  
Vol 1 (1) ◽  
Author(s):  
Gim Song Soh ◽  
J. Michael McCarthy
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Parametric Design ◽  
Degree Of Freedom ◽  
Kinematics Analysis ◽  
End Effector ◽  
Arbitrary Base ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

This paper presents a procedure that determines the dimensions of two constraining links to be added to a three degree-of-freedom spherical parallel manipulator so that it becomes a one degree-of-freedom spherical (8, 10) eight-bar linkage that guides its end-effector through five task poses. The dimensions of the spherical parallel manipulator are unconstrained, which provides the freedom to specify arbitrary base attachment points as well as the opportunity to shape the overall movement of the linkage. Inverse kinematics analysis of the spherical parallel manipulator provides a set of relative poses between all of the links, which are used to formulate the synthesis equations for spherical RR chains connecting any two of these links. The analysis of the resulting spherical eight-bar linkage verifies the movement of the system.

Kinematics Analysis and Singularity Loci of a 4-UPU Parallel Manipulator

2014 ◽  
pp. 467-474 ◽  
Author(s):  
Massimiliano Solazzi ◽  
Massimiliano Gabardi ◽  
Antonio Frisoli ◽  
Massimo Bergamasco
Keyword(s):  
Parallel Manipulator ◽  
Kinematics Analysis

Inverse Kinematics Analysis and Workspace of a New 3-RRRR Parallel Manipulator

Volume 2 ◽  
2004 ◽  
Author(s):  
Mohsen Bahrami ◽  
Iman Ebrahimi Moghaddam
Keyword(s):  
Rigid Body ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
High Speed ◽  
Analytic Solution ◽  
Kinematics Analysis ◽  
Electric Actuation ◽  
The One ◽  
Speed Accuracy ◽  
Robotic Applications

This paper presents a new 3-RRRR parallel manipulator. In the proposed mechanism, the revolute actuators are fixed to the base, which leads to a reduction of the inertia of the moving links and hence makes it attractive, particularly when high-speed motions are required and electric actuation is considered. This manipulator can be used in robotic applications involving the positioning and orientation of a rigid body in the space with high-speed, accuracy and high stiffness or as a simulator or others high-precision or high-speed devices. After introducing the mechanism, inverse kinematics analysis is presented. By the virtue of complexity of analytic solution, an algorithm is utilized which can numerically find possible of solutions and choose the one with applicable configuration. Then the workspace of manipulator is obtained by means of proposed numerical solution.

scholarly journals Forward Kinematics Analysis of a Novel 3-DOF Parallel Manipulator

2018 ◽  
Vol 0 (0) ◽  
pp. 0-0 ◽  
Author(s):  
Xiaoyong Wu ◽  
Zhijiang Xie
Keyword(s):  
Parallel Manipulator ◽  
Forward Kinematics ◽  
Kinematics Analysis
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