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TECHNICAL PAPERS

On the Seven Position Synthesis of a 5-SS Platform Linkage

[+] Author and Article Information
Qizheng Liao

Department of Mechanical Engineering, Beijing University of Posts and Telecommunications, Beijing 100088, P.R. China

J. Michael McCarthy

Department of Mechanical Engineering, University of California, Irvine, Irvine, CA 92697

J. Mech. Des 123(1), 74-79 (Nov 01, 1997) (6 pages) doi:10.1115/1.1330269 History: Received November 01, 1997
Copyright © 2001 by ASME
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References

Chen,  P., and Roth,  B., 1967, “Design Equations for the Finitely and Infinitesimally Separated Position Synthesis of Binary Links and Combined Link Chains,” ASME J. Eng. Ind., 91, pp. 209–219.
Suh, 1967.
Suh and Radcliffe, 1978.
Innocenti, C., 1994, “Polynomial Solution of the Spatial Burmester Problem,” ASME DE-Vol. 70, Mechanism Synthesis and Analysis.
Burmester, L., 1886, Lehrbuch der Kinematik, Verlag Von Arthur Felix, Leipzig, Germany.
Hall, 1961.
Denavit and Hartenberg, 1964.
Suh et al., 1997.
Collins, C. L., and McCarthy, J. M., 1997, “The Singularity Loci of Two Triangular Parallel Manipulators,” Proceedings of the 8th International Conference on Advanced Robotics, Proc. R. Soc. London, Ser. A, Monterey, CA, July 6–8.
Gosselin,  C. M., and Angeles,  J., 1990, “Singularity Analysis of Closed Loop Kinematic Chains,” IEEE Trans. Rob. Autom., 6, No. 3, pp. 281–290.
Merlet, 1989.
Hall, Allen S., Jr., 1961, Kinematics and Linkage Design, Prentice-Hall, Englewood Cliffs, New Jersey.
Mayer St-Onge and Gosselin, 1996.
Kumar,  V., 1992, “Instantaneous Kinematics of Parallel-Chain Robotic Mechanisms,” ASME J. Mech. Des., 114, No. 3, pp. 349–358.
Hartenberg, R. S., and Denavit, J., 1964, Kinematic Synthesis of Linkages, McGraw-Hill, New York.

Figures

Grahic Jump Location
An SS chain with fixed pivot B=(Bx,By,Bz)T and moving pivot P=(Px,Py,Pz)T in the fixed frame F
Grahic Jump Location
A linear actuator connecting the base pivot Bn to moving pivot Pm can be used to actuate the 5-SS linkage
Grahic Jump Location
The reference trajectory for the smallest 5-SS linkage with legs 1591012 consists of three circuits
Grahic Jump Location
The 5-SS chain with the SS chains 178910 in Table 2 as legs
Grahic Jump Location
The reference trajectory of the 5-SS linkage with legs 5414?, ?
Grahic Jump Location
The reference trajectory for the case 510121415 is continuous

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