Kinestatic Analysis of General Parallel Manipulators

[+] Author and Article Information
Shou-Hung Ling, Ming Z. Huang

Department of Mechanical Engineering And Robotics Center, Florida Atlantic University, Boca Raton, FL 33431

J. Mech. Des 117(4), 601-606 (Dec 01, 1995) (6 pages) doi:10.1115/1.2826727 History: Received February 01, 1994; Revised February 01, 1995; Online December 11, 2007


Robotic mechanisms in general can be of either serial-chain, parallel-chain, or hybrid (a combination of both parallel and serial chains) geometry. While it can be asserted that kinematic theories and techniques are well established for fully serial-chain manipulators, the same assertion cannot be made when it is considered in the general context. In this article, we present a general procedure for systematic formulation and characterization of the instantaneous kinematics for a robotic mechanism with a general parallel-chain geometry. A kinestatic approach based on screw system theory is adopted in this treatment. The resulting equation is a compact Jacobian matrix of the system which includes attributes from not only the active joints but also the passive constraints. An example has been provided to demonstrate the methodology as well as its theoretical feasibility.

Copyright © 1995 by The American Society of Mechanical Engineers
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