Kinematic design of a 6-DOF parallel manipulator with decoupled translation and rotation

2006 ◽  
Vol 22 (3) ◽  
pp. 545-551 ◽  
Author(s):  
Yan Jin ◽  
I.-M. Chen ◽  
Guilin Yang
Keyword(s):  
Parallel Manipulator ◽  
Kinematic Design

Optimal design of a redundant spherical parallel manipulator

Robotica ◽  
1997 ◽  
Vol 15 (4) ◽  
pp. 399-405 ◽  
Author(s):  
Sylvie Leguay-Durand ◽  
Claude Reboulet
Keyword(s):  
Optimal Design ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Structure Optimization ◽  
Kinematic Design ◽  
Spherical Wrist ◽  
Redundant Structure ◽  
Spherical Parallel Manipulator

A new kinematic design of a parallel spherical wrist with actuator redundancy is presented. A special feature of this parallel manipulator is the arrangement of co-axial actuators which allows unlimited rotation about any axis inside a cone-shaped workspace. A detailed kinematic analysis has shown that actuator redundancy not only removes singularities but also increases workspace while improving dexterity. The structure optimization has been performed with a global dexterity criterion. Using a conditioning measure, a comparison with a non-redundant structure of the same type was performed and shows that a significant improvement in dexterity has been obtained.

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

1989 ◽  
Vol 111 (2) ◽  
pp. 202-207 ◽  
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.

Kinematic design of a novel 4-DOF parallel manipulator

2017 ◽  
Author(s):  
Cuncun Wu ◽  
Guilin Yang ◽  
Chin-Yin Chen ◽  
Shulin Liu ◽  
Tianjiang Zheng
Keyword(s):  
Parallel Manipulator ◽  
Kinematic Design

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

1988 ◽  
Vol 110 (1) ◽  
pp. 35-41 ◽  
Author(s):  
C. Gosselin ◽  
J. Angeles
Keyword(s):  
Numerical Methods ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Design Criteria ◽  
Algebraic Systems ◽  
Kinematic Design ◽  
Nonlinear Algebraic Systems ◽  
Global Workspace ◽  
Three Degree Of Freedom

In this paper, the design of a planar three-degree-of-freedom parallel manipulator is considered from a kinematic viewpoint. Four different design criteria are established and used to produce designs having optimum characteristics. These criteria are (a) symmetry (b) the existence of a nonvanishing workspace for every orientation of the gripper (c) the maximization of the global workspace, and (d) the isotropy of the Jacobian of the manipulator. The four associated problems are formulated and their solutions are derived. Two of these require to resort to numerical methods for nonlinear algebraic systems. Results of optimum designs are also included.

Optimal Kinematic Design and Application of a Redundantly Actuated 3DOF Planar Parallel Manipulator

2008 ◽  
Vol 130 (5) ◽  
Author(s):  
Jun Wu ◽  
Jinsong Wang ◽  
Liping Wang
Keyword(s):  
Machine Tool ◽  
Gas Turbines ◽  
Parallel Manipulator ◽  
Kinematic Model ◽  
Performance Measure ◽  
Kinematic Design ◽  
Hybrid Machine Tool ◽  
Planar Parallel Manipulator ◽  
Redundantly Actuated ◽  
Design And Application

This paper addresses optimal kinematic design and application of a redundantly actuated parallel manipulator with 3DOFs. Based on the kinematic model, the Jacobian matrix is derived and then transferred to a uniform form such that the conditioning index has explicit physical meaning. Based on the task workspace, the width between two columns is determined. Then, a comprehensive performance index, which compromises the conflict between workspace utilization performance measure and conditioning index, is proposed for the optimum design. The parallel manipulator is incorporated into a 4DOF hybrid machine tool, which also includes a feed worktable. Furthermore, a 5DOF machine tool is created by combining the parallel manipulator with a 2DOF worktable to machine blades of gas turbines.

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