Structural design of parallel manipulators with general constraint one

被引：5

作者：

Alizade, Rasim ^{[1
]}

Selvi, Ozgun ^{[1
]}

Gezgin, Erkin ^{[1
]}

机构：

[1] Izmir Inst Technol, Dept Mech Engn, TR-35437 Izmir, Turkey

来源：

MECHANISM AND MACHINE THEORY | 2010年 / 45卷 / 01期

关键词：

Overconstrained parallel manipulators; Linear-angular conditions; Recurrent vector equations;

D O I：

10.1016/j.mechmachtheory.2009.06.004

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper structural design of parallel manipulators with general constraint one regarding angular and linear-angular conditions are considered. Four known overconstrained mechanisms with angular and two new designs with linear-angular conditions are presented. 14 structural groups and end effector chains in subspace lambda - 5 are examined. New formulations and definitions of constructing overconstrained manipulators are described. Using examined structural groups, all architectures of subspace lambda - 5 parallel manipulators with revolute joints and single-loop are introduced via structural bonding. (C) 2009 Published by Elsevier Ltd.

引用

页码：1 / 14

页数：14

共 50 条

[1] Structural Synthesis of Lower-Class Robot Manipulators with General Constraint One
Alizade, Rasim
Soltanov, Suleyman
Hamidov, Abusalat
[J]. ROBOTICS, 2021, 10 (01) : 1 - 22
[2] Optimization design of general triglide parallel manipulators
Yan, S. J.
Ong, S. K.
Nee, A. Y. C.
[J]. ADVANCED ROBOTICS, 2016, 30 (16) : 1027 - 1038
[3] A structural synthesis for a family of translation parallel manipulators without constraint singularities
School of Mechanical Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
[J]. Binggong Xuebao, 2007, 8 (975-980):
[4] A general approach for optimal kinematic design of parallel manipulators
Lou, YJ
Liu, GF
Xu, JJ
Li, ZX
[J]. 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, : 3659 - 3664
[5] CONSTRAINT REDUNDANCY IN MOBILITY OF PARALLEL MANIPULATORS
Malik, Akhtar N.
Dai, Jian S.
Pennock, Gordon R.
[J]. DETC 2008: 32ND ANNUAL MECHANISMS AND ROBOTICS CONFERENCE, VOL. 2, PTS A & B, 2009, : 1485 - 1493
[6] THE ISOTROPIC DESIGN OF 2 GENERAL CLASSES OF PLANAR PARALLEL MANIPULATORS
MOHAMMADI, HR
ZSOMBORMURRAY, PJD
ANGELES, J
[J]. JOURNAL OF ROBOTIC SYSTEMS, 1995, 12 (12): : 795 - 805
[7] Structural synthesis of parallel manipulators
Alizade, R
Bayram, Ç
[J]. MECHANISM AND MACHINE THEORY, 2004, 39 (08) : 857 - 870
[8] Kinestatic analysis of general parallel manipulators
Ling, SH
Huang, MZ
[J]. JOURNAL OF MECHANICAL DESIGN, 1995, 117 (04) : 601 - 606
[9] Effects of constraint errors on parallel manipulators with decoupled motion
Jin, Yan
Chen, I. -Ming
[J]. MECHANISM AND MACHINE THEORY, 2006, 41 (08) : 912 - 928
[10] A general approach for optimal kinematic design of 6-DOF parallel manipulators
VIVEK KUMAR MEHTA
BHASKAR DASGUPTA
[J]. Sadhana, 2011, 36 : 977 - 994

← 1 2 3 4 5 →