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
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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




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