Book ChapterDOI
A Three-dof Tripod for Generating Spherical Rotation
M. Karouia,J. M. Hervé +1 more
- pp 395-402
TLDR
A novel three degree-of-freedom manipulator, which includes three in-parallel limbs between a fixed frame and a platform that moves by spherical rotation about a fixed point, is described and is presented succinctly and can be obtained from deductive reasoning.Abstract:
A novel three degree-of-freedom manipulator, which includes three in-parallel limbs between a fixed frame and a platform that moves by spherical rotation about a fixed point, is described. This mechanism is not overconstrained and has the structural type of the translational Tsai platform. Each limb is a sequence of a universal joint, a prismatic pair and a universal joint (UPU). The spherical rotation of the moving platform is obtained by variation of length in the linear actuators that are mounted on the prismatic pairs of the three limbs. Under some geometric constraint changes, we obtain a generalised structure of the mechanism. This arrangement belongs to a more general family of mechanisms, which is presented succinctly and can be obtained from deductive reasoning.read more
Citations
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Journal ArticleDOI
Jacobian Analysis of Limited-DOF Parallel Manipulators
Sameer A. Joshi,Lung-Wen Tsai +1 more
TL;DR: In this article, the authors presented a methodology for the Jacobian analysis of limited degrees-of-freedom (DOF) parallel manipulators, which is defined as a spatial parallel manipulator with less than six degrees of freedom.
Journal ArticleDOI
Type Synthesis of Symmetrical Lower-Mobility Parallel Mechanisms Using the Constraint-Synthesis Method:
Zhen Huang,Q. C. Li +1 more
TL;DR: The difficult problem of how to correctly apply the general Grübler-Kutzbach criterion to lower-mobility PMs is solved and a mobility analysis of PMs with a closed loop in the limbs is presented to demonstrate the validity.
Journal ArticleDOI
Structure Synthesis of a Class of 4-DoF and 5-DoF Parallel Manipulators with Identical Limb Structures
Yuefa Fang,Lung-Wen Tsai +1 more
TL;DR: A systematic approach is developed for the structural synthesis of a class of four-degrees-of-freedom and 5-DoF overconstrained parallel manipulators with identical serial limbs using the theory of screws and reciprocal screws.
Proceedings ArticleDOI
Constraint singularities of parallel mechanisms
TL;DR: The concept of constraint singularity is introduced, a phenomenon occurring in parallel mechanisms with reduced freedoms when the screw system, formed by the constraint wrenches in all legs, loses rank.
Journal ArticleDOI
Type Synthesis of 3-DOF Spherical Parallel Manipulators Based on Screw Theory
Xianwen Kong,Clément Gosselin +1 more
TL;DR: In this paper, the type synthesis of a spherical parallel kinematic chain (SPKC) and its legs are analyzed. And the number of over-constraints of each SPKC is also given.
References
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Journal ArticleDOI
The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator
Clément Gosselin,Jorge Angeles +1 more
TL;DR: Optimisation de la cinematique d'un manipulateur utilisant un mecanisme parallele spherique a trois degres de liberte.
Book
A Treatise on the Theory of Screws
TL;DR: The theory of screws in non-Euclidian space has been studied extensively in the literature, see as mentioned in this paper for an introduction to the theory of screw co-ordinates and a survey.
Journal ArticleDOI
Kinematic analysis of a three degrees of freedom in-parallel actuated manipulator
Kok-Meng Lee,D. Shah +1 more
TL;DR: The dynamic analysis of a three-degrees-of-freedom in-parallel actuated manipulator provides a basis for future theoretical research to develop the control scheme, for experimental research to estimate the inertia parameters, and for design optimization of the prototype manipulator.
Related Papers (5)
The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator
Clément Gosselin,Jorge Angeles +1 more