Structural synthesis of serial platform manipulators

Abstract

In this paper, structural synthesis of serial platform manipulators is considered. Serial platform manipulators are created according to the development of the platforms and closed loops. Also a new structural formula of mobility of parallel Cartesian platform robot manipulators is presented. Structural synthesis of serial platform manipulators with lower and higher kinematic pairs with respect to their structures are also examined. Structural synthesis of parallel Cartesian platform robot manipulators is also introduced. History of structural formulas DOF are presented as a table with equations, authors, years and some commentaries. New and revised methods for structural synthesis of serial platform manipulators and parallel Cartesian platform robot manipulators are illustrated along with examples. Ó 2006 Elsevier Ltd. All rights reserved. Pep.veı gpelcnabkeyyoq pa,one paccvanpbba.ncz ıogpocs cnpyrnypyouo cbynepa gkanaopveyysx vaybgykznopob gockelobaneksyoq cnpyrnyps. Coplaybe gkanaopveyysx vaybgylznopob goclelobanelsyoq cnpyrnyps ocyobaya ya papbbnbb gkanaopv b pavryynsx roynypob. ı pa,one gpelcnabgeya yobaz cnpyrnypyaz aopvyka, a nar;e paccvanpbba.ncz bogpocs cnpyrnypyouo cbynepa gkanaopveyysx vaybgykznopob gockelobaneksyoq cnpyrnyps c ybpobvb b bscobvb gapavb c noxrb ppeybz bx cnpryrnyps. Bcnopbz cnpyrnypys aopvyk cnegeyb golbb;yocnb gpelcnabkeya b bble na,kbws c ypabyeybzvb, aınopavb, uolavb b yeronopsvb roveynapbzvb. Hobse b gepecvonpeyyse venols cnpyrnypyouo cbynepa gkanaopveyysx vaybgykznopob gockelobaneksyoq cnpyrnyps bkk.cnpbpy.ncz papkbxsvb gpbvepavb.

A novel concept of convertible roofs with high transformability consisting of planar scissor-hinge structures

“…For all kinetic structures, mobility of the system is larger than or equal to one (M ≥ 1). If the mobility of a kinematic system is equal to zero (M = 0), the structure is stable and requires no additional stabilization [24]. There are different formulas to calculate the mobility of different structural systems, but in this work Freudenstein-Alizade approach [25] for structural groups has been adopted, according to which:…”

Structural synthesis of Euclidean platform robot manipulators with variable general constraints

“…where D is the number of dimensions of vectors in the reference frame (D is three for space (R 3 ), and two for plane (R 2 )), and d l is the number of dimensions of vectors in subspaces of the legs [3]. Also motion of two or more serial platforms can be formulated as,…”

“…In 2005, Gogu [2] introduced a mobility analysis of translational parallel robot manipulators, which is different from previous mobility analyses. After this study, in 2006, Alizade et al [3] reviewed the history of degrees of freedom analysis and structural synthesis formulations in a table that also includes the names of authors, publication dates and commentaries. Furthermore, a new structural synthesis formulation of Cartesian robot manipulators is presented in the same investigation.…”

Classification of manipulators of the same origin by virtue of compactness and complexity

“…Malushev [2] introduced a universal mobility equation with respect to the number of links and kinematic pair classes. The history of kinematic structures and structural synthesis is reviewed by Mruthyunjaya [3], and the history of structural formulations is presented as a table with equations, authors, years and some commentaries along with the description of the structural synthesis of serial platform manipulators by Alizade et al [4]. Mobility equations without exception for mechanisms, which contain mixed independent loops with variable general constraints, are given by Freudenstein et al [5].…”