Kinematics of a three-degree-of-freedom in-parallel actuated manipulator mechanism

Fang, Yuefa; Huang, Zhen

doi:10.1016/s0094-114x(97)00008-6

Cited by 74 publications

(34 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This manipulator is very well studied in literature, and it is wellknown that the three DoF consist of two rotational and one translational DoF [8], [9], i.e. it belongs to the χ 21 class.…”

Section: B Illustrative Example Ii: 3-rps Spatial Parallel Manipulatormentioning

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

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

Section: B Illustrative Example Ii: 3-rps Spatial Parallel Manipulatormentioning

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

View full text Add to dashboard Cite

show abstract

“…K. M. Lee has given kinematic analysis of three-degree-of-freedom in parallel mechanisms [3]. And a three-degree-offreedom in-parallel actuated manipulator mechanism has been given by Y. Fang [4]. All those parallel mechanisms have a problem that the linear actuators have to take bending torque as the rotational joints are used at one end of the actuators.…”

Section: Intrductionmentioning

confidence: 99%

Kinematics and Dynamic Analysis of a Hydraulically Driven Three-Degree-of-Freedom Parallel Mechanism

Handroos

2002

Proceedings of the JFPS International Symposium on Fluid Power

View full text Add to dashboard Cite

show abstract

“…The kinematic analyses concerning instantaneous motions analysis, dynamic modeling, synthesis, workspace analysis, position analysis, and the like can be found in the literature [2][3][4][5][6][7][8]. The 2-DOF PMs of Diamond [9], the 3-DOF PMs of Trivariant [10], Tricept [11], and Delta [12] have been widely applied for industrial treatment.…”

Section: Introductionmentioning

confidence: 99%

Kinematics and Transmission Performance Analyses of a 2T2R Type 4-DOF Spatial Parallel Manipulator

Wang

et al. 2018

Journal of Robotics

View full text Add to dashboard Cite

A 2-RPU&2-SPS spatial parallel mechanism (SPM) is researched. Firstly, the number and property of degrees of freedom (DOF) of the SPM are analyzed by screw theory. There are two rotational and two translational movements (2R2T) of the mechanism that can be achieved. Secondly, the position analyses are researched. For the inverse position analysis, the explicit expression can be obtained from the independent motion parameters of the given mechanism, and the forward position problem is solved by calculating a set of nonlinear equation systems. Then we obtained the workspace of the mechanism based on the analytic formulae of the inverse displacement. Finally, by establishing the Jacobian matrix of the mechanism, the singularity of the mechanism is obtained, and the kinematics transmission performance of the mechanism is studied by using the index of the output efficiency of the limb output of the mechanism. This work will provide the theoretical basis for prototype development and application of the mechanism.

show abstract

Kinematics of a three-degree-of-freedom in-parallel actuated manipulator mechanism

Cited by 74 publications

References 7 publications

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

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

Kinematics and Dynamic Analysis of a Hydraulically Driven Three-Degree-of-Freedom Parallel Mechanism

Kinematics and Transmission Performance Analyses of a 2T2R Type 4-DOF Spatial Parallel Manipulator

Contact Info

Product

Resources

About