Analytical determination of principal twists in serial, parallel and hybrid manipulators using dual vectors and matrices

Bandyopadhyay, Sandipan; Ghosal, Ashitava

doi:10.1016/j.mechmachtheory.2004.05.017

Cited by 26 publications

(30 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This allows the definition of the partitioning of degrees of freedom between Rotational and Translational respectively [9]. The purpose of the analytical procedure described in this paper is to arrive to Eq.…”

Section: Fundamentalsmentioning

confidence: 99%

“…For example, in [9,10] the authors employ dual vectors to formulate an algebraic solution to the determination of principal screws (by means of a generalized eigen problem), obtaining a closed form solution for two-and three-systems, and introducing the concept of partitioning degrees of freedom. In [11,12], the authors also produced an algebraic methodology to be applied on the screw matrix for two-and threesystems.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Analytical determination of the principal screws for general screw systems

Altuzarra¹,

Salgado²,

Pinto³

et al. 2013

Mechanism and Machine Theory

View full text Add to dashboard Cite

Section: Fundamentalsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Analytical determination of the principal screws for general screw systems

Altuzarra¹,

Salgado²,

Pinto³

et al. 2013

Mechanism and Machine Theory

View full text Add to dashboard Cite

“…The theoretical developments presented in this paper follow [1], [3] closely, and the readers are directed to the same for further details.…”

Section: Formulationmentioning

confidence: 99%

“…These matrices can be composed into a single, dual-valued matrix 1Ĵ as shown in [1]. From the eigenproblem of the matrixĝ =Ĵ TĴ , one can find the principal twists associated with the motion of the manipulator.…”

Section: Formulationmentioning

confidence: 99%

A novel characterisation of spatial manipulators based on their degrees-of-freedom

Bandyopadhyay

2009

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Self Cite

View full text Add to dashboard Cite

This paper deals with the nature of the degree(s)-of-freedom(DoF) of spatial manipulators. When such manipulators have less than six DoF, it is generally not clear as to how many of its DoF are rotational in nature and how many purely translational. The problem is further complicated by the fact that the split of the total DoF in these categories can change for the same manipulator at different subsets of its configuration space. This paper elaborates the concept of partitioning of DoF introduced in [1] and uses it to present a classification of spatial manipulators based on the nature of its motion at any given configuration. The identification of these classes in terms of the configuration and architecture of the manipulators can help substantially in their design. The impact of some changes of architecture on the instantaneous DoF of a 3-RPS spatial manipulator is presented to illustrate the theory developed in the paper.

show abstract

“…Kinematics and dynamics are fundamental topics in mechanism theory [8][9][10][11][12][13][14][15][16][17][18]. In the previous kinematics/dynamics researches of S-PMs, the formulae for solving the forward kinematics and driving forces are derived.…”

mentioning

confidence: 99%

Unified solving inverse dynamics of 6-DOF serial–parallel manipulators

2015

Applied Mathematical Modelling

View full text Add to dashboard Cite

a b s t r a c tThe unified inverse dynamics model of serial-parallel manipulators (S-PMs) formed by two parallel manipulators (PMs) connected in series is systematically established based on the constraint and the coupling characteristics of the single PMs in the S-PM. First, the common formulas for solving inverse kinematics of S-PMs is derived. Second, the inverse dynamics model is established based on the principle of virtual work. Finally, a novel (UPR + RPS + SPS) + (3-SPS/UP) S-PM is analyzed to illustrate the generality and effectiveness of the solving procedures.

show abstract

Analytical determination of principal twists in serial, parallel and hybrid manipulators using dual vectors and matrices

Cited by 26 publications

References 10 publications

Analytical determination of the principal screws for general screw systems

Analytical determination of the principal screws for general screw systems

A novel characterisation of spatial manipulators based on their degrees-of-freedom

Unified solving inverse dynamics of 6-DOF serial–parallel manipulators

Contact Info

Product

Resources

About