Jacobian formulation for a novel 6-DOF parallel manipulator

Cleary, K.; Uebel, M.

doi:10.1109/robot.1994.351155

Cited by 5 publications

(4 citation statements)

References 5 publications

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“…Үш аяқты және еркiндiк дәрежесi алтыға тең параллель манипуляторлардың кейбiр түрлерi бар. Оларға әр үш аяғы ESR [17] (мұндағы E -жазықтық кинематикалық жұп), RRPS [18], RES [19], URS [20] (мұндағы U -әмбебап кинематикалық жұп) түрiндегi кеңiстiктiк кинематикалық жұптарға ие параллель манипуляторлар жатады. Осы ПМ жазықтық және әмбебап кинематикалық жұптар қолданылатындықтан олардың құрылымы мен басқару жүйесi күрделi болады.…”

Section: кIрiспеunclassified

Kinematic analysis of a new 3-PRRS tripod type parallel manipulator

Kaiyrov¹

2020

JMMCS

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Section: кIрiспеunclassified

Kinematic analysis of a new 3-PRRS tripod type parallel manipulator

Kaiyrov¹

2020

JMMCS

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“…Using the loop closure method (Ma and Angeles, 1992), or the static equilibrium method (Cleary and Uebel, 1994;Simaan, Glozman, and Shoham, 1998;Simaan, 1999), along with Eqs. (1) and (2), respectively, yields the commonly used formulation of the Jacobian matrix.…”

Section: Background -Jacobian Formulationmentioning

confidence: 99%

“…In contrast to the numerous investigations devoted to the formulation of parallel manipulators' Jacobian matrix e.g., (Cleary and Uebel, 1994;Simaan, Glozman, and Shoham, 1998;Tsai, 1998Tsai, -1999, there are only a few studies addressing the formulation of its derivative. Dutré, et al, (1997) addressed this problem and obtained a closed form analytic expression for the derivative of the inverse Jacobian matrix with respect to time and with respect to the joint active variables.…”

Section: Introductionmentioning

confidence: 99%

Geometric Interpretation of the Derivatives of Parallel Robots’ Jacobian Matrix With Application to Stiffness Control

Simaan

Shoham

2003

Journal of Mechanical Design

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This paper presents a closed-form formulation and geometrical interpretation of the derivatives of the Jacobian matrix of fully parallel robots with respect to the moving platforms' position/orientation variables. Similar to the Jacobian matrix, these derivatives are proven to be also groups of lines that together with the lines of the instantaneous direct kinematics matrix govern the singularities of the active stiffness control problem. This geometric interpretation is utilized in an example of a planar 3 degrees-of-freedom redundant robot to determine its active stiffness control singularity.

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“…Three-legged parallel manipulators (tripods) are currently being developed. The following types of tripods are known: 3-URS [8], 3-ESR [9], 3-RRPS [10], 3-RES [11][12][13], 3-PPSR [14], 3-CRS [16], 3-CCC [17,18]. We have developed a modern 3-PRPS type parallel mechanism with six-degreesof-freedom which in comparison with existing tripods, has a large load capacity.…”

Section: Introductionmentioning

confidence: 99%