Kinematic feature analysis of a 6-degree-of-freedom in-parallel manipulator for micro-positioning surgical

Closed-form direct and inverse kinematics of a new three-degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators are presented. The manipulator has higher resolution and precision than the existing three-DOF mechanisms with extensible limbs. Since all of the manipulator actuators are base mounted, higher payload capacity, smaller actuator sizes, and lower power dissipation can be obtained. The manipulator is suitable for alignment applications where only tip, tilt, and piston motions are significant. The direct kinematics of the manipulator is reduced to solving an eighth-degree polynomial in the square of the tangent of the half-angle between one of the limbs and the base plane. Hence, there are at most 16 assembly configurations for the manipulator. In addition, it is shown that the 16 solutions are eight pairs of reflected configurations with respect to the base plane. Numerical examples for the direct and inverse kinematics of the manipulator are also presented.

Download Full-text

A Novel Spherical Parallel Manipulator with Circular Guide

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.325-326.1014 ◽

2013 ◽

Vol 325-326 ◽

pp. 1014-1018

Author(s):

Hai Rong Fang ◽

Zhi Hong Chen ◽

Yue Fa Fang

Keyword(s):

Inverse Kinematics ◽

Parallel Manipulator ◽

Degree Of Freedom ◽

High Rigidity ◽

Geometric Conditions ◽

Spherical Parallel Manipulator

In this paper, a novel 3-degree-of-freedom (DOF) parallel manipulator that can perform three rotations around the remote centre is presented. The theory of screws and reciprocal screws is employed for the analysis of the geometric conditions. In particular, using circular guide to instead of R joints, so that has the advantage of enabling continuous 360° revolute around Z-axis. The inverse kinematics of mechanism is given and the workspace has a good performance. To compare with the machine constructed with traditional joints, it has the advantage of high rigidity and precision.

Download Full-text

The Optimum Kinematic Design of a Spherical Three-Degree-of-Freedom Parallel Manipulator

Journal of Mechanisms Transmissions and Automation in Design ◽

10.1115/1.3258984 ◽

1989 ◽

Vol 111 (2) ◽

pp. 202-207 ◽

Cited By ~ 377

Author(s):

C. Gosselin ◽

J. Angeles

Keyword(s):

Numerical Method ◽

Parallel Manipulator ◽

Degree Of Freedom ◽

Design Criteria ◽

Kinematic Design ◽

Three Degree Of Freedom

In this paper, the design of a spherical three-degree-of-freedom parallel manipulator is considered from a kinematic viewpoint. Three different design criteria are established and used to produce designs having optimum characteristics. These criteria are (a) symmetry (b) workspace maximization, and (c) isotropy. The associated problems are formulated and their solutions, one of them requiring to resort to a numerical method, are provided. Optimum designs are thereby obtained. A discussion on singularities is also included.

Download Full-text

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

Journal of Mechanisms and Robotics ◽

10.1115/1.2959093 ◽

2008 ◽

Vol 1 (1) ◽

Cited By ~ 5

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.

Download Full-text

A new closed-form kinematics of the generalized 3-DOF spherical parallel manipulator

Robotica ◽

10.1017/s0263574799001630 ◽

1999 ◽

Vol 17 (5) ◽

pp. 475-485 ◽

Cited By ~ 23

Author(s):

Zhen Huang ◽

Y. Lawrence Yao

Keyword(s):

Closed Form ◽

Analytical Method ◽

Parallel Manipulator ◽

Degree Of Freedom ◽

New Method ◽

Numerical Example ◽

Three Degree Of Freedom ◽

Spherical Parallel Manipulator

This paper presents a new method to analyze the closed-form kinematics of a generalized three-degree-of-a-freedom spherical parallel manipulator. Using this analytical method, concise and uniform solutions are achieved. Two special forms of the three-degree-of-freedom spherical parallel manipulator, i.e. right-angle type and a decoupled type, are also studied and their unique and interesting properties are investigated, followed by a numerical example.

Download Full-text

Determination of the Workspace of 6-DOF Parallel Manipulators

15th Design Automation Conference: Volume 3 — Mechanical Systems Analysis, Design and Simulation ◽

10.1115/detc1989-0141 ◽

1989 ◽

Author(s):

C. Gosselin

Keyword(s):

Parallel Manipulator ◽

Graphical Representation ◽

Three Dimensional ◽

Parallel Manipulators ◽

Degree Of Freedom ◽

Geometrical Properties ◽

Cartesian Space ◽

Six Degree Of Freedom

Abstract This paper presents an algorithm for the determination of the workspace of parallel manipulators. The method described here, which is based on geometrical properties of the workspace, leads to a simple graphical representation of the regions of the three-dimensional Cartesian space that are attainable by the manipulator with a given orientation of the platform. Moreover, the volume of the workspace can be easily computed by performing an integration on its boundary, which is obtained from the algorithm. Examples are included to illustrate the application of the method to a six-degree-of-freedom fully-parallel manipulator.

Download Full-text