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Parallel manipulator
About: Parallel manipulator is a research topic. Over the lifetime, 10330 publications have been published within this topic receiving 138634 citations.
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TL;DR: The method used in the paper to construct the kinematic structure of the limb of lower-mobility parallel manipulators with prescribed DoF is simple and systematic and a constraint-synthesis method for type synthesis of symmetrical lower-Mobility parallel Manipulators is proposed.
Abstract: In the area of parallel robots, the use of lower-mobility parallel manipulators for many tasks requiring fewer than six degrees of freedom (DoF) has drawn a lot of interest. This paper treats one fundamental problem in the study of lower-mobility parallel manipulators: type synthesis. Using reciprocal screw theory, we define the mechanism constraint system and limb constraint system. We then investigate the relations between the mechanism constraint system and the limb constraint system under different geometrical conditions. Three tables describing the relations are presented. Based on the three tables, we propose a constraint-synthesis method for type synthesis of symmetrical lower-mobility parallel manipulators. The method used in the paper to construct the kinematic structure of the limb of lower-mobility parallel manipulators with prescribed DoF is simple and systematic. Examples are included to illustrate the application of the method and some novel lower-mobility parallel manipulators with 3-, 4- a...
347 citations
TL;DR: In this article, the kinematic characteristics of a three degree-of-freedom (dof) parallel mechanism are studied. Butler et al. present an architecture of the mechanism consisting of a mobile platform attached to a base through three identical prismatic-revolute-spherical jointed serial linkages.
Abstract: A study of the kinematic characteristics of a three degree-of-freedom (dof) parallel mechanism is presented. The architecture of the mechanism is comprised of a mobile platform attached to a base through three identical prismatic-revolute-spherical jointed serial linkages. The prismatic joints are considered to be actuated. These prismatic actuators lie on a common plane and have radial directions of action. The mechanism's inverse displacement solution is obtained. Since the mechanism has only 3 dof, constraint equations describing the inter-relationship between the six motion coordinates are derived. These constraints allow the definition of parasitic motions, i.e., motions in the three unspecified motion coordinates. Architecture optimization of the device is undertaken demonstrating that specific values of design variables allow minimization of parasitic motion.
340 citations
TL;DR: The kinematic and dynamic modeling of the manipulator are conducted by resorting to compliance and stiffness analysis based on the matrix method, which are validated by finite-element analysis (FEA).
Abstract: In this paper, a concept of totally decoupling is proposed for the design of a flexure parallel micromanipulator with both input and output decoupling. Based on flexure hinges, the design procedure for an XY totally decoupled parallel stage (TDPS) is presented, which is featured with decoupled actuation and decoupled output motion as well. By employing (double) compound parallelogram flexures and a compact displacement amplifier, a class of novel XY TDPS with simple and symmetric structures are enumerated, and one example is chosen for further analysis. The kinematic and dynamic modeling of the manipulator are conducted by resorting to compliance and stiffness analysis based on the matrix method, which are validated by finite-element analysis (FEA). In view of predefined performance constraints, the dimension optimization is carried out by means of particle swarm optimization, and a prototype of the optimized stage is fabricated for performance tests. Both FEA and experimental studies well validate the decoupling property of the XY stage that is expected to be adopted into micro-/nanoscale manipulations.
336 citations
16 Dec 1992
TL;DR: A planning and control algorithm for coordinating the motion of a mobile manipulator so that the manipulator is maintained in a configuration which maximizes the manipulability measure is presented.
Abstract: A planning and control algorithm for coordinating the motion of a mobile manipulator is presented. The design criterion is to control the mobile platform so that the manipulator is maintained in a configuration which maximizes the manipulability measure. The effectiveness of the method was verified by simulations on two representative trajectories. The algorithm was implemented with an actual mobile manipulator and tested on one of the trajectories for comparison purposes. >
324 citations
14 May 1989
TL;DR: A solution of the direct kinematics problem for the Stewart platform is presented and the solution is shown to be reducible to a 24th-order polynomial equation in tan( phi /sub r//2).
Abstract: The Stewart platform is a fully parallel, six-degree-of-freedom manipulator mechanism. Although its inverse kinematics have been extensively studied, no solutions to the direct position kinematics problem have been previously presented in the literature. A solution of the direct kinematics problem of the case in which the six limbs form three concurrent pairs at either the base or the hand member is presented. Even though it is not the most general possible configuration, this case does include many arrangements that have been used in practical robot mechanisms. >
321 citations