The design of isotropic 6-DOF parallel manipulators using isotropy generators

Tsai, K. Y.; Huang, Kuo-See

doi:10.1016/s0094-114x(03)00067-3

Cited by 45 publications

(34 citation statements)

References 10 publications

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“…For these reasons, many researchers have attempted to discover new techniques that can increase the size of the workspace while maximizing the isotropy of the mechanism and avoiding the internal singularities [4][5][6][7]. Tsai and Huang proposed a method for designing an isotropic six-DOF parallel manipulator developed from an isotropy generator, consisting of six straight lines satisfying the isotropy conditions [8]. They used the device to develop an isotropic Stewart-Gough parallel manipulator.…”

Section: Introductionmentioning

confidence: 99%

Optimum design of 6-DOF parallel manipulator with translational/rotational workspaces for haptic device application

2010

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This paper proposes an optimum design method that satisfies the desired orientation workspace at the boundary of the translation workspace while maximizing the mechanism isotropy for parallel manipulators. A simple genetic algorithm is used to obtain the optimal linkage parameters of a six-degree-of-freedom parallel manipulator that can be used as a haptic device. The objective function is composed of a desired spherical shape translation workspace and a desired orientation workspace located on the boundaries of the desired translation workspace, along with a global conditioning index based on a homogeneous Jacobian matrix. The objective function was optimized to satisfy the desired orientation workspace at the boundary positions as translated from a neutral position of the increasedentropy mechanism. An optimization result with desired translation and orientation workspaces for a haptic device was obtained to show the effectiveness of the suggested scheme, and the kinematic performances of the proposed model were compared with those of a preexisting base model.

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Section: Introductionmentioning

confidence: 99%

Optimum design of 6-DOF parallel manipulator with translational/rotational workspaces for haptic device application

2010

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“…A common way to visualize the kinetostatic properties of a manipulator is through parallelograms (or polyhedra) [19,20] or ellipses (or ellipsoids) [17,[21][22][23] having the principal axes length and orientations reflecting the privileged and the disadvantageous directions ( Fig. 1).…”

Section: : ð10þmentioning

confidence: 99%

“…So, once the value of the Jacobian is assigned, it is possible to construct an infinite number of PKMs, each one having different leg lengths but the same Jacobian in that configuration. A neat technique is shown in [22] using the so called isotropy generator (Fig. 4).…”

Section: The Gough-stewart Platformmentioning

confidence: 99%

“…However those PKM are not decoupled and isotropy is achieved only in one configuration. Two different families of manipulators are described in [17] and in [22]. These two families have one solution in common for which, in the considered configuration, the legs are arranged in three pairs whose geometrical axes are parallel to the axes of a reference frame (Fig.…”

Section: An Hypothetical Solutionmentioning

confidence: 99%

“…[30]); in the next sections we propose a structure which is conceptually easy to understand and relatively simple to realize especially if elastic compliant solutions are used for passive joints. The Jacobian can be evaluated knowing the unit vectors w i of the legs and the position of an arbitrary point p i of each line defined by the legs [17,22] J −1 ¼ w 1x w 1y w 1z u 1x u 1y u 1z w 2x w 2y w 2z u 2x u 2y u 2z w 3x w 3y w 3z u 3x u 3y u 3z w 4x w 4y w 4z u 4x u 4y u 4z w 5x w 5y w 5z u 5x u 5y u 5z w 6x w 6y w 6z u 6x u 6y u 6z …”

Section: Introductionmentioning

confidence: 99%

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