Path Planning in the Case of PKM with Hybrid Topology

Abstract:

Article Preview

Parallel robots have often been used during the last decade because of their advantages, such as: good dynamic behavior, easiness of inverse kinematics, and higher accuracy etc. Despite those advantages, parallel robots are criticized in relation to their small work space, and not really modular topology and complex mechanical architecture. Industrial experience has realized that the major disadvantage of parallel robots is the small dimension of work space. Strong economical reasons and all technical advantages of parallel robots recommend these robots to do tasks that are proper to machine tools.

Info:

Periodical:

Solid State Phenomena (Volume 113)

Edited by:

Nin Bizys, Andrejus Henrikas Marcinkevicius

Pages:

291-295

DOI:

10.4028/www.scientific.net/SSP.113.291

Citation:

C. Brisan and M. Hiller, "Path Planning in the Case of PKM with Hybrid Topology", Solid State Phenomena, Vol. 113, pp. 291-295, 2006

Online since:

June 2006

Export:

Price:

$35.00

[1] J. Angeles: The qualitative synthesis of parallel manipulators (ASME J. of Mechanical Design, 126(4): 617-624, 2004).

[2] C. Brisan, X. Qian, D. Franitza and M. Hiller: Topology and Kinematics of Modular Reconfigurable Parallel Robots (Proceedings of 11th World Congress in Mechanism and Machine Science, China, 2003).

[3] C. Brisan, M. Hiller: Kinematic Aspects of Parallel Anthropomorphic Robots (Multibody Dynamics 2005, ECCOMAS Thematic Conference, Madrid, Spain, 2005).

[6] C. M. Gosselin et al: Synthesis and design of reactionless three-degree-of-freedom mechanisms (IEEE Trans. on Robotics and Automation, 20(2): 191-199, 2004).

DOI: 10.1109/tra.2004.824696

[7] J. Hesselbach et al: Parallel robot specific control functionalities (2nd Int. Colloquium, Collaborative Research Centre 562, Braunschweig, 10-11 May 2005), pp.93-108.

[8] J. I. Jeong et al: Kinematic calibration of redundantly actuated parallel mechanisms (ASME J. of Mechanical Design, 126(2), 2004), pp.307-318.

[9] A. Kecskemethy: Mobile, User's Guide, Gerhard-Mercator University, Duisburg, (1994).

[10] X. Kong, C. M. Gosselin: Type synthesis of three-degree-of-freedom spherical parallel manipulators (Int. J. of Robotics Research, 23(3), 2004), pp.237-245.

DOI: 10.1177/0278364904041562

[11] A. Kosinka, M. Galicki and K. Kedzior: Design of parameters of parallel manipulators for a specified workspace (Robotica, 21(5), 2003), pp.575-579.

DOI: 10.1017/s0263574703005241

[12] J. -P. Merlet: Parallel robots (Kluwer, Dordrecht, 2000).

[13] F. Pierrot: Parallel mechanisms and redundancy (1st Int. Colloquium, Collaborative Research Centre 562, Braunschweig, 2002), pp.261-277.

[14] H. -J. Su, P. Dietmaier and J. M. McCarthy: Trajectory planning for constrained parallel manipulators (ASME J. of Mechanical Design, 125(4), 2003), pp.709-716.

DOI: 10.1115/1.1623187

In order to see related information, you need to Login.