Development of a parallel link manipulator

Arai, Tatsuo; Stoughton, Robert S.; Homma, Keiko; Adachi, H.; Nakamura, Tatsuya; Nakashima, Katsumi

doi:10.1109/icar.1991.240570

Cited by 41 publications

(25 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Concerning laser based systems, they are too expensive and the non-contact laser measuring systems like laser tracker cannot measure orientation. The second solution is to build a mechanical structure, with metrological considerations, which is able to give information to compute the actual tool pose [14]. This mechanical structure needs to have a good resolution and a good accuracy and it must not transmit any stresses.…”

Section: Introductionmentioning

confidence: 99%

Optimal design of a 6-dof parallel measurement mechanism integrated in a 3-dof parallel machine-tool

Corbel

Pierrot-Deseilligny

2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

Abstract-This paper presents the design and the optimization of a parallel machine-tool composed of (i) an 3-dof actuated parallel mechanism (a linear Delta) and (ii) a 6-dof measuring parallel mechanism (a Gough platform). The interest to use a measuring device independent of the actuation device is shown and the modeling of both devices used for the optimization is explained. Then, the optimization of both mechanisms is presented. The optimization of the actuated mechanism is performed to have an homogeneous behavior in velocity while the goal of the measuring device optimization is to obtain the best resolution for the measuring system evaluated at the tool level.

show abstract

Section: Introductionmentioning

confidence: 99%

Optimal design of a 6-dof parallel measurement mechanism integrated in a 3-dof parallel machine-tool

Corbel

Pierrot-Deseilligny

2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

show abstract

“…A schematic view and the motions of the 3D4M PLM are illustrated in Fig. 3 and Fig (Arai et al, 1991), kinematics equations for the proposed 3-DOF parallel link mechanism are derived. In turn, the parallel link mechanism of the particular configuration of our research can also be analyzed by the general method of kinematics.…”

Section: Configuration Of 3-dof Planar Mechanismsmentioning

confidence: 99%

Kinetostatics and Dynamics of Redundantly Actuated Planar Parallel Link Mechanisms

Harada¹

2011

Numerical Analysis - Theory and Application

View full text Add to dashboard Cite

“…where Equation (12) is a univariate twelfth-degree polynomial equation [see (4), (8) and (10)] whose only unknown is q. The analysis of (12) shows that the values of q which make n 1 equal to zero are solution of (12) only if they also make n 0 equal to zero, and, in addition, the values of q, that make n 0 and n 1 contemporarily equal to zero, are roots of Eq.…”

Section: Notations and Closure Equationsmentioning

confidence: 99%

“…The contemporary action of the legs on the end effector allows high stiffness and positioning precision to be reached by PMs in nearly all their workspace. These features made them suitable for various applications: testing machines [1], simulators [2], precision cranes [3][4][5][6][7], etc..…”

Section: Introductionmentioning

confidence: 99%

Forward Position Analysis of the SP-PS-RS Architectures

Gregorio¹

2005

Proceedings of the 22nd International Symposium on Automation and Robotics in Construction

View full text Add to dashboard Cite

Abstract-A wide family of parallel manipulators (PMs) is the one that groups all the PMs with three legs where the legs become kinematic chains constituted of a passive spherical pair (S) in series with either a passive prismatic pair (P) or a passive revolute pair (R) when the actuators are locked. The topologies of the structures generated by these manipulators, when the actuators are locked, are ten. One out of these topologies is the SP-PS-RS topology. This paper presents an algorithm that determines all the assembly modes of the structures with topology SP-PS-RS in analytical form. The presented algorithm can be applied without changes to solve, in analytical form, the forward position analysis of any parallel manipulator (SP-PS-RS architecture) which generates a SP-PS-RS structure when the actuators are locked. In particular, the closure equations of a generic SP-PS-RS structure are written. The eliminant of this system of equations is determined and the solution procedure is presented. Finally, the proposed procedure is applied to a real case. This work demonstrates that the solutions of the forward position analysis of any parallel manipulator which generates a SP-PS-RS structure when the actuators are locked are at most twelve.

show abstract

Development of a parallel link manipulator

Cited by 41 publications

References 9 publications

Optimal design of a 6-dof parallel measurement mechanism integrated in a 3-dof parallel machine-tool

Optimal design of a 6-dof parallel measurement mechanism integrated in a 3-dof parallel machine-tool

Kinetostatics and Dynamics of Redundantly Actuated Planar Parallel Link Mechanisms

Forward Position Analysis of the SP-PS-RS Architectures

Contact Info

Product

Resources

About