Trajectory Planning for Constrained Parallel Manipulators

[+] Author and Article Information
Hai-Jun Su, J. Michael McCarthy

Robotics and Automation Laboratory, University of California, Irvine, Irvine, CA 92697

Peter Dietmaier

Institute of General Mechanics, TU-Graz

J. Mech. Des 125(4), 709-716 (Jan 22, 2004) (8 pages) doi:10.1115/1.1623187 History: Received August 01, 2002; Revised April 01, 2003; Online January 22, 2004
Copyright © 2003 by ASME
Your Session has timed out. Please sign back in to continue.



Grahic Jump Location
A TPR chain imposes two constraints, so a 2TPR spatial linkage has two degrees-of-freedom
Grahic Jump Location
An RPS chain imposes one constraint, so a 3RPS spatial linkage has three degrees-of-freedom
Grahic Jump Location
Flowchart of the trajectory planning algorithm
Grahic Jump Location
Example of the trajectory of a 2TPR linkage that approximates a specified trajectory
Grahic Jump Location
Example of the trajectory of a 3RPS linkage that approximates a specified movement
Grahic Jump Location
The user interface for the SYNTHETICA software system




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