Book ChapterDOI
Synthesis by screw algebra of translating in-parallel actuated mechanisms
Antonio Frisoli,D. Checcacci,Fabio Salsedo,Massimo Bergamasco +3 more
- pp 433-440
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TLDR
In this article, a new approach to the study of screw systems variations, for infinitesimal motions, is proposed by analyzing the end-effector acceleration of a serial chain.Abstract:
A new approach to the study of screw systems variations, for infinitesimal motions, is proposed by analyzing the end-effector acceleration of a serial chain. The developed results are applied to the synthesis of translating in-parallel actuated mechanisms. A novel design method is used. to identify screw systems that present invariable kinematic properties for finite motions.read more
Citations
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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
Dynamics of parallel manipulators by means of screw theory
TL;DR: In this paper, an approach based on the theory of screws and on the principle of virtual work is proposed to calculate the actuator forces as a function of the external applied forces and the imposed trajectory.
Journal ArticleDOI
Type Synthesis of 3-DOF Translational Parallel Manipulators Based on Screw Theory
Xianwen Kong,Clément Gosselin +1 more
TL;DR: In this article, a method for the type synthesis of 3-DOF translational parallel manipulators (TPMs) based on screw theory is proposed, and the full-cycle mobility conditions for legs for TPKCs are derived based on the screw theory and the displacement analysis of serial kinematic chains undergoing small joint motions.
Journal ArticleDOI
Kinematics and Singularity Analysis of a Novel Type of 3-CRR 3-DOF Translational Parallel Manipulator:
Xianwen Kong,Clément Gosselin +1 more
TL;DR: A new three-degrees-of-freedom (3-DOF) translational parallel manipulator (TPM) with linear actuators, i.e., 3-CRR TPM, is first proposed and shows that it has the following kinematic merits over previous TPMs.
Journal ArticleDOI
Structural synthesis of fully-isotropic translational parallel robots via theory of linear transformations
TL;DR: In this paper, a structural synthesis approach of fully-isotropic translational parallel robotic manipulators (TPMs) based on the theory of linear transformations is presented, which allows us to obtain all structural solutions of TPMs in a systematic manner.
References
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Journal ArticleDOI
Screw theory and higher order kinematic analysis of open serial and closed chains
TL;DR: In this paper, a new method for the velocity, acceleration, and jerk analysis of spatial chains is introduced, based on obtaining recursive expressions for the end effector of a serial manipulator.
Journal ArticleDOI
Lie algebras, modules, dual quaternions and algebraic methods in kinematics
TL;DR: In this article, a systematic coordinate-free exposition of different algebraic operations in the set of infinitesimal displacements (screws) and their relations with finite displacements is developed.
Journal ArticleDOI
The mathematical group structure of the set of displacements
TL;DR: In this article, an intrinsic mathematical formalism is presented with the use of affine geometry together with Lie's theory of groups for representing physical rigid body motions, with the aim of representing the Euclidean displacement operators.
Journal ArticleDOI
Existence Criteria for Over-Constrained Mechanisms: An Extension of Motor Algebra
TL;DR: It is shown that the condition for the existence of almost all existing over-constrained mechanisms is related to the mobile screw space, that is, all joint motors of the mechanism either belongs to a mobile Screw space or belong to a space which is given as the sum of mobile spaces.
Related Papers (5)
General Methodology for Type Synthesis of Symmetrical Lower-Mobility Parallel Manipulators and Several Novel Manipulators
Zhen Huang,Q. C. Li +1 more
Type Synthesis of Symmetrical Lower-Mobility Parallel Mechanisms Using the Constraint-Synthesis Method:
Zhen Huang,Q. C. Li +1 more