Mobility and Direct Kinematics of Parallel Manipulators RSS Type - 3 Actuators

Abstract:

Article Preview

The parallel manipulators are multi-mobile planar or spatial mechanisms with two to six kinematical chains that connect two rigid bodies, generically named platforms. The parallel manipulator is a complex topological structure, having the joints of various types. The most frequently utilized joints are: the mono-mobile kinematical pairs (revolute R or prismatic), the bi-mobile cylindrical pairs C and the tri-mobile spherical pairs S. One of the most important problems in parallel manipulators kinematics is finding the solution of direct kinematics. The paper presents a new way for the calculation of mobility and a new method for the direct kinematics of parallel manipulators RSS type, which are driven by three actuators.

Info:

Periodical:

Solid State Phenomena (Volumes 166-167)

Edited by:

Cornel Brișan, Vistrian Mătieș, Sergiu-Dan Stan and Stelian Brad

Pages:

197-202

DOI:

10.4028/www.scientific.net/SSP.166-167.197

Citation:

V. Filip and O. Antonescu, "Mobility and Direct Kinematics of Parallel Manipulators RSS Type - 3 Actuators ", Solid State Phenomena, Vols. 166-167, pp. 197-202, 2010

Online since:

September 2010

Export:

Price:

$35.00

[1] P. Antonescu: Mechanism and machine science, Printech Publishing House Bucharest, Romania, (2005).

[2] P. Antonescu: General formula for the d. o. f. of complex structure manipulators and robots, volume 3 of Proceedings of Tenth World Congress on the Theory of Machine and Mechanisms, Oulu, Finland, (1999).

[3] P. Antonescu, O. Antonescu, S.M. Cretu: Contributions to analysis and synthesis of parallel manipulators, volume 6 of Journal of Mechanisms and Manipulators, no. 1, (2007), pp.57-62.

[4] O. Antonescu, P. Antonescu: Contributions to topologic structural synthesis of the parallel manipulators, Conference of Robotics, Iasi, Romania, LII (LVI), Fascic 7A, (2006), pp.23-30.

[5] O. Antonescu, P. Antonescu: Mechanisms and Manipulators (in Romanian), Printech Publishing House, Bucharest, Romania, (2006).

[6] P. Antonescu, C. Galmeanu: Contributions to the calculus of mobility of mechanisms and manipulators, Journal Constructia de masini, Vol. 50, No. 7, (1998), pp.5-8.

[7] V. Filip: Dynamic Modeling of Manipulators with Symbolic Computational Method, Proceedings of the Romanian Academy, Series A, Volume 9, Number 3, (2008), pp.237-242, ISSN 1454-8267.

[8] P. Antonescu, V. Filip: Geometry and forward kinematics of parallel manipulators with six actuators, Proceeding of The Third National Seminar of Mechanisms, Craiova, September 1011, (2008), pp.141-152, ISBN 978-973-746-910-6.

[9] F. Gao, W. Li, X. Zhao, Z. Jin, H. Zhao: New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs, Mechanisms and Machine Theory 37, (2002) pp.1395-1411.

DOI: 10.1016/s0094-114x(02)00044-7

[10] G. Gogu: Mobility of mechanisms: a critical review, Mechanisms and Machine Theory 40, (2005), pp.1068-1097.

DOI: 10.1016/j.mechmachtheory.2004.12.014

[11] C.M. Gosselin, J. Wang, T. Laliberte, I. Ebert - Uphoff: On the design of a statically balanced 6-d. o. f. parallel manipulator, Proceedings of Tenth World Congress on the Theory of Machine and Mechanisms, Oulu, Finland, Vol. 3, (1999).

[12] T. Laliberte, C.M. Gosselin, G. Cote: Rapid prototyping of mechanisms, Proceedings of Tenth World Congress on the Theory of Machine and Mechanisms, Oulu, Finland, Vol. 3, (1999), pp.959-964.

[13] J.P. Merlet, Les robots paralleles, Hermes, Paris, (1990).

[14] S. Mitsi, K. Bouzakis, G. Mansour: Optimization of robot links motion in inverse kinematics solution considering collision avoidance and joints limits, Elsevier, Mechanisms and Machine Theory, vol. 30, no. 5, (1995), pp.653-663.

DOI: 10.1016/0094-114x(94)00070-2

[15] L.W. Tsai: The enumeration of a class of three - d. o. f. parallel manipulators, Proceedings of Tenth World Congress on the Theory of Machine and Mechanisms, Oulu, Finland, Vol. 3, (1999), pp.1121-1126.

[16] L. Tancredi, M. Teillaud: Application de la geometrie synthetique au probleme de modelisation geometrique directe des robots paralleles, Mechanisms and Machine Theory 34, (1999), pp.255-269.

DOI: 10.1016/s0094-114x(97)00108-0

[17] G. Yang, I.M. Chen, S.H. Yeo: Design consideration and kinematic modeling for modular reconfigurable parallel robots, Proceedings of Tenth World Congress on the Theory of Machine and Mechanisms, Oulu, Finland, Vol. 3, (1999), pp.1079-1084.

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