Structure Synthesis of a Class of 4-DoF and 5-DoF Parallel Manipulators with Identical Limb Structures

Fang, Yuefa; Tsai, Lung-Wen

doi:10.1177/027836402128964657

Cited by 134 publications

(173 citation statements)

References 0 publications

Supporting

Mentioning

170

Contrasting

Unclassified

Order By: Relevance

“…Type synthesis of 3R2T FSPM had been a difficulty (Merlet, 2000) and hot topic until dozens of them are proposed (Jin et al, 2001;Fang & Tsai, 2002;Huang & Li, 2002;Kong & Gosselin, 2002;Giuseppe, Lim et al, 2003;Li et al, 2004). Comparing with the degree of concern for them in type synthesis, their application seems to be an inactive area.…”

Section: Manipulator Enumerationmentioning

confidence: 99%

Feasible Human-Spine Motion Simulators Based on Parallel Manipulators

Zhu¹,

Huang²,

Zhao³

2008

Parallel Manipulators, Towards New Applications

View full text Add to dashboard Cite

Section: Manipulator Enumerationmentioning

confidence: 99%

Feasible Human-Spine Motion Simulators Based on Parallel Manipulators

Zhu¹,

Huang²,

Zhao³

2008

Parallel Manipulators, Towards New Applications

View full text Add to dashboard Cite

“…These theories were directly used in mobility analysis of different types of parallel mechanisms, including those having overconstraints [9]. Utilizing annihilator property between a screw system and its reciprocal system, Huang and Li [10], Fang [11], Kong [12] and colleagues proposed a number of simple and effective approaches for type synthesis of various parallel mechanisms. However, since instantaneous screws are not valid to represent finite motions, final verification is required to ensure consistency between finite and instantaneous motions [13][14][15].…”

Section: Introductionmentioning

confidence: 99%

A way of relating instantaneous and finite screws based on the screw triangle product

Sun

Yang

Huang

et al. 2017

Mechanism and Machine Theory

View full text Add to dashboard Cite

Copies of full items can be used for personal research or study, educational, or not-for-profit purposes without prior permission or charge. Provided that the authors, title and full bibliographic details are credited, a hyperlink and/or URL is given for the original metadata page and the content is not changed in any way. A note on versions:The version presented here may differ from the published version or, version of record, if you wish to cite this item you are advised to consult the publisher's version. Please see the 'permanent WRAP URL' above for details on accessing the published version and note that access may require a subscription. Abstract: It has been a desire to unify the models for structural and parametric analyses and design in the field of robotic mechanisms.This requires a mathematical tool that enables analytical description, formulation and operation possible for both finite and instantaneous motions. This paper presents a method to investigate the algebraic structures of finite screws represented in a quasivector form and instantaneous screws represented in a vector form. By revisiting algebraic operations of screw compositions, this paper examines associativity and derivative properties of the screw triangle product of finite screws and produces a vigorous proof that a derivative of a screw triangle product can be expressed as a linear combination of instantaneous screws. It is proved that the entire set of finite screws forms an algebraic structure as Lie group under the screw triangle product and its time derivative at the initial pose forms the corresponding Lie algebra under the screw cross product, allowing the algebraic structures of finite screws in quasi-vector form and instantaneous screws in vector form to be revealed.

show abstract

“…1,2 Among them, some 5-DoF PMs have attracted a lot of attentions for their merits, such as large workspace, larger capability of load bearing, and suitable for 3D free-form surface normal machining. [3][4][5][6][7][8][9][10][11] Generally, a conventional n-DoF PM (n < 6) includes a moving platform m, a fixed base B, n active legs, and 6-n couple structure constraints which are formed from two legs or more. Therefore, some conventional PMs may be highly sensitive to the manufacturing error due to 6-n couple structure constraints, and an unnecessary tiny self-motion of platform may be generated.…”

Section: Introductionmentioning

confidence: 99%

“…1,4 In this aspect, Fang and Tsai synthesized some 5-DoF PMs by screws theory. 3 Kong and Gosselin synthesized some 5-DoF PMs based on screw theory. 4 Huang et al studied the dimension synthesis of 3-DoF TriVariant for a 5-DoF reconfigurable hybrid robot.…”

Section: Introductionmentioning

confidence: 99%

Kinematics/statics and workspace analysis of a 3-leg 5-DoF parallel manipulator with a UPU-type composite active constrained leg

Lü

Zhang²,

Sui

et al. 2012

Robotica

View full text Add to dashboard Cite

SUMMARYA novel 3-leg 5-DoF parallel manipulator (PM) with a UPU-type composite active constrained leg is proposed and its kinematics and statics are analyzed systematically. First, the formulae are derived for solving the inverse/forward displacements, inverse/forward velocities, and active/constraint forces. Second, the formulae are derived for solving inverse/forward accelerations. Third, a simulation mechanism of this PM is created and its workspace is constructed and analyzed. Finally, the analytic results are verified by its simulation mechanism. The line from a i to o, e i = e.The line fromThe active leg and its length. l i , L i The side of m and B. P, S The prismatic joint and the spherical joint. R jThe revolute joints (j = 1, 2, 3, 4).The universal joint with R 1 and R 2. U BThe universal joint with R 3 and R 4. {m} Coordinate frame o-xyz fixed on m. {B} Coordinate frame O-XYZ fixed on B. v riThe input velocity of active leg. e, E The distances from a i to o and from A i to O. F, T The concentrated force and torque applied on m at o. F aiThe active forces applied on and along r i. T aThe active torque applied on R 1. T λThe active torque applied on R 4. F c , T c The constrained force and the constrained torque. T bThe bending moment exerted on r 2. Rotational matrix from {m} to {B}. J, HThe Jacobian matrix and Hessian matrix.

show abstract

Structure Synthesis of a Class of 4-DoF and 5-DoF Parallel Manipulators with Identical Limb Structures

Cited by 134 publications

References 0 publications

Feasible Human-Spine Motion Simulators Based on Parallel Manipulators

Feasible Human-Spine Motion Simulators Based on Parallel Manipulators

A way of relating instantaneous and finite screws based on the screw triangle product

Kinematics/statics and workspace analysis of a 3-leg 5-DoF parallel manipulator with a UPU-type composite active constrained leg

Contact Info

Product

Resources

About