The Kinematics of a Class of 3-DOF, 4-Legged Parallel Manipulators

[+] Author and Article Information
Sameer A. Joshi

Department of Mechanical Engineering, Institute for Systems Research, University of Maryland, College Park, MD 20742e-mail: sameer@isr.umd.edu

Lung-Wen Tsai

Department of Mechanical Engineering, Bourns College of Engineering, University of California, Riverside, CA 92521

J. Mech. Des 125(1), 52-60 (Mar 21, 2003) (9 pages) doi:10.1115/1.1540992 History: Received April 01, 2001; Revised May 01, 2002; Online March 21, 2003
Copyright © 2003 by ASME
Your Session has timed out. Please sign back in to continue.


Giddings and Lewis, 1995, Giddings and Lewis Automation Technology, Fond du Lac, WI.
Aronson, 1996, “A Bright Horizon for Machine Tool Technology,” Manuf. Eng., 57–70.
Shibukawa,  T., Toyama,  T., and Hattori,  K., 1997, “Parallel Mechanism Based Milling Machine,” Journal of Japan Society of Precision Engineering, 63(12), pp. 1671–1675.
Stewart,  D., 1965, “A Platform with Six Degrees of Freedom,” Proc. Inst. Mech. Eng., 180, pp. 371–386.
Gough, V. E., and Whitehall, S. G., 1962, “Universal Tyre Test Machine,” Proceedings of the 9th International Tech. Congress, F.I.S.I.T.A., p. 177 (Institution of Mechanical Engineers).
Clavel, R., 1988, “A Fast Robot with Parallel Geometry,” 18th International Symposium on Industrial Robots, Sydney, Australia, pp. 91–100.
Tsai, L. W., 1997, “Multi-Degree-of-Freedom Mechanisms for Machine Tools and the Like,” U.S. Patent, No. 5,656,905.
Lee, K., and Shah, D. K., 1987, “Kinematic Analysis of a Three Degrees of Freedom In-Parallel Actuated Manipulator,” Proceedings of IEEE International Conference on Robotics and Automation, Raleigh, NC, Vol. 1, pp. 345–350.
Tsai, L. W., 1996, “Kinematics of a Three-DOF Platform with Three Extensible Limbs,” Recent Advances in Robot Kinematics, J. Lenarcic and V. Parenti-Castelli, eds., Kluwer Academic Publishers, pp. 401–410.
Hervé, J. M., 1995, “Design of Parallel Manipulators Via the Displacement Group,” 9th World Congress on the Theory of Machines and Mechanisms, Milan, Italy, August 30–September 2, pp. 2079–2082.
Tsai, L. W., 1999, “The Enumeration of a Class of Three-DOF Parallel Manipulators,” 10th World Congress on the Theory of Machine and Mechanisms, Olulu, Finland, June 20–24, 3 , pp. 1121–1126.
Siciliano,  B., 1999, “The Tricept Robot: Inverse Kinematics, Manipulability Analysis and Closed-Loop Direct Kinematics Algorithm,” Robotica, 17, pp. 437–445.
Fattah, A., and Oghbaei, M., 2000, “Singular Configuration and Workspace of a Parallel Manipulator with New Architecture,” Proceedings of the ASME Design Engineering Technical Conferences, Baltimore, MD, Sept. 10–13, DETC2000/MECH-14100.
Fattah,  A., and Kasaei,  G., 2000, “Kinematics and Dynamics of a Parallel Manipulator with a New Architecture,” Robotica, 18, pp. 535–543.
Tsai,  L. W., and Joshi,  S. A., 2002, “Kinematic Analysis of 3 DOF Position Mechanisms for Use in Hybrid Kinematic Machines,” ASME J. Mech. Des., 124, No. 2, June(in print).
Gosselin,  C., and Angeles,  J., 1989, “The Optimum Kinematic Design of a Spherical Three-Degree-of-Freedom Parallel Manipulator,” ASME J. Mech. Des., 111, pp. 437–445.
Gosselin, C., and Hamel, J., 1994, “The Agile Eye: A High-Performance Three-Degree-of-Freedom Camera-Orienting Device,” Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, CA, 8–13 May, pp. 781–786.
Tsai, L. W., 2000, Mechanism Design: Enumeration of Kinematic Structures According to Function, ISBN 0-8493-0901-8, CRC Press, Boca Raton, FL.
Tsai, L. W., 1999, Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley & Sons, New York, N.Y.
Raghavan,  M., 1993, “The Stewart Platform of General Geometry has 40 Configurations,” ASME J. Mech. Des., 115, pp. 277–282.
Zhang,  C., and Song,  S. M., 1994, “Forward Position Analysis of Nearly General Stewart Platforms,” ASME J. Mech. Des., 116, pp. 54–60.
Raghavan,  M., and Roth,  B., 1995, “Solving Polynomial Systems for the Kinematic Analysis and Synthesis of Mechanisms and Robot Manipulators,” ASME J. Mech. Des., 117, pp. 71–79.


Grahic Jump Location
A cooperating hybrid kinematic machine
Grahic Jump Location
A spatial 3-DOF parallel manipulator with 4 legs
Grahic Jump Location
Position mechanism of the Tricept manipulator
Grahic Jump Location
D-H coordinate frames for the passive leg of the Tricept manipulator
Grahic Jump Location
Configurations of the Tricept manipulator corresponding to solution 1 and solution 2



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In