0
TECHNICAL PAPERS

Theory for Topology Synthesis of Parallel Manipulators and Its Application to Three-Dimension-Translation Parallel Manipulators

[+] Author and Article Information
Qiong Jin

Department of Mechanical Engineering, Southeast University, Nanjing 210096, P.R. Chinae-mail: qjin@hotmail.com

Ting-Li Yang

SINOPIC Jinling Petrochemical Corp., Nanjing 210037, P.R. Chinae-mail: yangtingli@jlpec.com

J. Mech. Des 126(4), 625-639 (Aug 12, 2004) (15 pages) doi:10.1115/1.1758253 History: Received December 01, 2001; Revised November 01, 2003; Online August 12, 2004
Copyright © 2004 by ASME
Your Session has timed out. Please sign back in to continue.

References

Dasgupta,  B., and Mruthyunjaya,  T. S., 2000, “The Stewart Platform Manipulator: a Review,” Mech. Mach. Theory, 35(1), pp. 15–40.
Gao,  F., Li,  W. M., Zhao,  X. C., Jin,  Z. L., and Zhao,  H., 2002, “New Kinematic Structures for 2-, 3-, 4-, and 5-DOF Parallel Manipulator Designs,” Mech. Mach. Theory, 37(11), pp. 1395–1411.
Gosselin,  C. M., and Angeles,  J., 1988, “The Optimum Kinematic Design of a Planar Three-Degree-of-Freedom Parallel Manipulator,” ASME J. Mech. Des., 110(1), pp. 35–41.
Gosselin,  C. M., and Angeles,  J., 1989, “The Optimum Kinematic Design of a Spherical Three-Degree-of-Freedom Parallel Manipulator,” ASME J. Mech. Des., 111(2), pp. 202–207.
Gosselin,  C. M., and Lavoie,  E., 1993, “On the Kinematic Design of Spherical Three-Degree-of-Freedom Parallel Manipulators,” Int. J. Robot. Res., 12(4), pp. 394–402.
Gosselin,  C. M., Sefrioui,  J., and Richard,  M. J., 1994, “On the Direct Kinematics of Spherical Three-Degree-of-Freedom Parallel Manipulators of General Architecture,” ASME J. Mech. Des., 116(2), pp. 594–598.
Vischer,  P., and Clever,  R., 2000, “Argos: a Novel 3-DOF Parallel Wrist Mechanism,” Int. J. Robot. Res., 19(1), pp. 5–11.
Karouia, M., and Hervé, J. M., 2000, “A Three-DOF Tripod for Generating Spherical Rotation,” Advances in Robot Kinematics, J. Lenarčič and M. M. Stanišič, eds., Kluwer Academic Publishers, pp. 395–402.
Clavel,  R., 1989, “Une Nouvelle Structure de Manipulateur Parallèle Pour la Robotique Legere,” RAIRO APII, 23(6), pp. 501–519.
Hervé, J. M., and Sparacino, F., 1991, “Structure Synthesis of Parallel Robots Generating Spatial Translation,” Proc. of the 5th IEEE Int. Conference on Advanced Robotics, Pisa, Italy, pp. 808–813.
Sparacino, F., and Hervé, J. M., 1993, “Synthesis of Parallel Manipulators Using Lie-Groups—Y-Satar and H-Robot,” Proc. of the 1993 IEEE/Tsukuba Int. Workshop on Advanced Robotics, Tsukuba, Japan, pp. 75–80.
Hervé, J. M., 1995, “Design of Parallel Manipulators via the Displacement Group,” Proc. of the 9th World Congress on Theory of Machines and Mechanisms, Milland, pp. 2079–2082.
Tsai, L. W., and Stamper, R., 1996, “A Parallel Manipulator with Only Translational Degrees of Freedom,” Proc. of the 1996 ASME Design Engineering Technical Conferences, Irvine, CA, 96-DETC-MECH-1152.
Tsai, L. W., 1996, “Kinematics of a Three-DOF Platform with Three Extensible Limbs,” Recent Advances in Robot Kinematics, J. Lenarčič and V. Parenti-Castelli, eds., Kluwer Academic Publishers, pp. 401–410.
Tsai, L. W., Walsh, G. C., and Stamper, R., 1996, “Kinematics of a Novel Three DOF Translational Platform,” Proc. of the 1996 IEEE Int. Conf. on Robotics and Automation, Minneapolis, MN, pp. 3446–3451.
Tsai, L. W., 1997, “Multi-Degree-of-Freedom Mechanisms for Machine Tools and the Like,” United States Patent, Patent Number: 5656905.
Tsai, L. W. 1999, “The Enumeration of a Class of Three-DOF Parallel Manipulators,” Proc. of the 10th World Congress of the Theory of Machine and Mechanisms, Finland, pp. 1121–1126.
Tsai,  L. W., and Joshi,  S., 2000, “Kinematics and Optimization of a Spatial 3-UPU Parallel Manipulator,” ASME J. Mech. Des., 122(4), pp. 439–446.
Tsai, L. W., 1999, Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley & Sons, Inc., New York.
Di Gregorio, R., and Parenti-Castelli, V., 1999, “Mobility Analysis of the 3-UPU Parallel Mechanism Assembled for a Pure Translation Motion,” Proc. of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, GA, pp. 520–525.
Han,  C., Kim,  J., Kim,  J., and Park,  F. C., 2002, “Kinematic Sensitivity Analysis of the 3-UPU Parallel Mechanism,” Mech. Mach. Theory, 37(8), pp. 787–798.
Zhao,  X. H., 1999, “Kinematics of a Novel Three DOF Translational Parallel Manipulator,” J. of Tianjin Inst. of Tech., 15(2), pp. 51–53.
Zhao, T. S., and Huang Z., 2000, “A Novel Three-DOF Translational Platform Mechanism and Its Kinematics,” Proc. of the 26th ASME Biennial Mechanisms and Robotics Conferences, Baltimore, Maryland, DETC2000/MECH-14101.
Frisoli, A., Checcacci, D., Salsedo, F., and Bergamasco, M., 2000, “Synthesis by Screw Algebra of Translating In-Parallel Actuated Mechanisms,” Advances in Robot Kinematics, J. Lenarčič and M. M. Stanišič, eds., Kluwer Academic Publishers, pp. 433–440.
Jin, Q., Yang, T. L., Liu, A. X., Shen, H. P., and Luo, Y. F., 2001, “Structure Synthesis of the 3-DOF (3-Translation) Parallel Robot Mechanisms Based on Single-Opened-Chain Units,” Proc. of ASME Design Engineering Technical Conferences, Pittsburgh, PA, DETC2001/DAC-21152.
Jin, Q., and Yang, T. L., 2001, “Position Analysis for a Class of Novel 3-DOF Translational Parallel Robot Mechanisms,” Proc. of ASME Design Engineering Technical Conferences, Pittsburgh, PA, DETC2001/DAC-21151.
Kong, X., and Gosselin, C. M., 2002, “A Class of 3-DOF Translational Parallel Manipulators with Linear Input-output Equations,” Proc. of the WORKSHOP on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Quebec City, Quebec, Canada.
Stock,  M., and Miller,  K., 2003, “Optimal Kinematic Design of Spatial Parallel Manipulators: Application to Linear Delta Robot,” ASME J. Mech. Des., 125(2), pp. 292–301.
Carricato,  M., and Parenti-Castelli,  V., 2003, “A Family of 3-DOF Translational Parallel Manipulators,” ASME J. Mech. Des., 125(2), pp. 302–307.
Callegari,  M., and Tarantini,  M., 2003, “Kinematic Analysis of a Novel Translation Platform,” ASME J. Mech. Des., 125(2), pp. 308–315.
Carricato,  M., and Parenti-Castelli,  V., 2003, “Position Analysis of a New Family of 3-DOF Translational Parallel Manipulators,” ASME J. Mech. Des., 125(2), pp. 316–322.
Kim,  D., and Chung,  W. K., 2003, “Kinematic Condition Analysis of Three-DOF Pure Translational Parallel Manipulators,” ASME J. Mech. Des., 125(2), pp. 323–331.
Lee,  K. M., and Shah,  D., 1988, “Kinematics Analysis of a Three-Degree-of-Freedom In-Parallel Actuated Manipulator,” IEEE J. Rob. Autom., 4(3), pp. 354–360.
Dunlop,  G. R., and Jones,  T. P., 1997, “Position Analysis of a 3-DOF Parallel Manipulator,” Mech. Mach. Theory, 32(8), pp. 903–920.
Carretero,  J. A., Podhorodeski,  R. P., Nahon,  M. A., and Gosselin,  C. M., 2000, “Kinematic Analysis and Optimization of a New Three Degree-of-Freedom Spatial Parallel Manipulator,” ASME J. Mech. Des., 122(1), pp. 17–24.
Jin,  Q., and Yang,  T. L., “Synthesis and Analysis of a Group of 3-Degree-of-Freedom Partially Decoupled Parallel Manipulators,” ASME J. Mech. Des., 126(2), pp. 301–306.
Clavel, R., 1988, “DELTA, a Fast Robot with Parallel Geometry,” Proc. of the 18th International Symposium on Industrial Robot, Lausanne, Switzerland, pp. 91–100.
Huang, Z., Zhao, T. S., and Li, Q. C., 2000, “Basic Synthesis Theory for Spatial Parallel Robot Mechanisms with Lower Degrees of Freedom,” Proc. of the 1st Int. Conference on Mechanical Engineering, Shanghai.
Jin, Q., and Yang, T. L., 2002, “Structure Synthesis of Parallel Manipulators with 3-Dimension Translation and 1-Dimension Rotation,” Proc. of ASME 2002 Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Montreal, Canada, DETC2002/MECH-34307.
Jin, Q., Yang, T. L., Liu, A. X., Shen, H. P., and Yao, F. H., 2001, “Structure Synthesis of a Class of Five-DOF Parallel Robot Mechanisms Based on Single-Opened-Chain Units,” Proc. of ASME Design Engineering Technical Conferences, Pittsburgh, PA, DETC2001/DAC-21153.
Merlet, J-P., 2002, “An Initiative for the Kinematics Study of Parallel Manipulators,” Proc. of the WORKSHOP on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Quebec City, Quebec, Canada.
Brogårdh, T., 2002, “PKM Research—Important Issues, as Seen from a Product Development Perspective at ABB Robotics,” Proc. of the WORKSHOP on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Quebec City, Quebec, Canada.
Hunt,  K. H., 1983, “Structural Kinematics of In-Parallel-Actuated Robot-Arms,” ASME J. Mech. Des., 105, pp. 705–712.
Tsai,  L. W., and Tahmasebi,  F., 1993, “Synthesis and Analysis of a New Class of Six-Degree-of-Freedom Parallel Minimanipulators,” J. Rob. Syst., 10(5), pp. 561–580.
Freudenstein, F., and Alizade, R., 1975, “On the Degree of Freedom of Mechanisms with Variable General Constraint,” Proc. of the 4th World Congress on the Theory of Machines and Mechanisms, pp. 51–56.
Yang, T. L., 1983, “Structural Analysis and Number Synthesis of Spatial Mechanisms,” Proc. of the 6th World Congress on Theory of Machines and Mechanisms, New Delhi, pp. 280–283.
Baker,  J. E., 1979, “The Bennett, Goldberg and Myard Linkages—in Perspective,” Mech. Mach. Theory, 14(4), pp. 239–253.
Mavroidis,  C., and Roth,  B., 1995, “Analysis of Overconstrained Mechanisms,” ASME J. Mech. Des., 117(1), pp. 69–74.
Jin,  Q., and Yang,  T. L., 2002, “Overconstraint Analysis on Spatial 6-link Loops,” Mech. Mach. Theory, 37(3), pp. 267–278.
Yang, T. L., 1986, “Kinematics Structural Analysis and Synthesis of Overconstrained Spatial Single Loop Chains,” Proc. of the 1986 ASME Design Engineering Technical Cong., Columbus, 86-DET-181.
Sarrus,  P. T., 1853, “Note sur la Transformation des Mouvements Rectilignes Alternatifs, en Mouvements Circulairs; et Reciproquement,” Academie des Sciences, Comtes Rendus Hebdomataires des Seances, 36, pp. 1036–1038, Paris.
Waldron,  K. J., 1966, “The Constraint Analysis of Mechanisms,” J. Mec., 1, pp. 101–114.
Luo, Y. F., 1991, “Study on Structures of Mechanisms,” Ph.D. Dissertation, Beijing University of Aeronautics and Astronautics, Beijing.
Yang, T. L. 1985, “Structure Synthesis of Spatial Multiloop Chains with Variable Overconstraints,” Proc. of the 4th IFTOMM International Symposium on Linkages and Computer Aided Design Method, Bucharest, 2 , pp. 447–456.
Yang, T. L., 1996, Basic Theory of Mechanical System—Structurology, Kinematics and Dynamics, China Machine Press, Beijing, pp. 26–32.
Shen, H. P., and Yang, T. L., 1994, “A New Method and Automatic Generation for Kinematic Analysis of Complex Planar Linkages Based on the Ordered Single-Opened-Chains,” Proc. of ASME Mechanisms Conf., 70 , pp. 493–500.
Zhang, J. Q., and Yang, T. L., 1994, “A New Method and Automatic Generation for Dynamic Analysis of Complex Planar Mechanisms Based on the Ordered SOCs,” Proc. of ASME Mechanisms Conf., 71 , pp. 215–220.
Shen,  H. P., Ting,  K. L., and Yang,  T. L., 2000, “Configuration Analysis of Complex Multiloop Linkages and Manipulaotrs,” Mech. Mach. Theory, 35(3), pp. 353–362.
Yang, T. L., and Yao, F. H., 1988, “The Topological Characteristics and Automatic Generation of Structural Analysis and Synthesis of Plane Mechanisms, Part 1: Theory; Part: Application,” Proc. of ASME Mechanisms Conf., Orlando, 15 (1), pp. 179–190.
Yang, T. L., and Yao, F. H., 1992, “Topological Characteristics and Automatic Generation of Structural Analysis of Spatial Mechanisms, Part 1: Topological Characteristics of Mechanical Networks; Part 2: Automatic Generation of Structural Types of Kinematic Chains,” Proc. of ASME Mechanisms Conf., Phoenix, DE-47, pp. 179–190.
Innocenti, C., and Parenti-Castelli, V., 1991, “Direct Kinematics of the 6-4 Fully Parallel Manipulator with Position and Orientation Uncoupled,” European Robotics and Intelligent Systems Conf., Corfu, June 23–28.
Patarinski, S. P., and Uchiyama, M., 1993, “Position/Orientation Decoupled Parallel Manipulator,” Proc. of ICAR, Tokyo, Japan, pp. 153–158.
Wohlhart,  K., 1994, “Displacement Analysis of the General Stewart Platform,” Mech. Mach. Theory, 29(4), pp. 581–589.
Lee,  M. K., 1995, “Design of a High Stiffness Machining Robot Arm Using Double Parallel Mechanism,” IEEE Int. Conf. on Robotics and Automation, Nagoya, 49, pp. 234–240.
Lallelmand,  J. P., Goudali,  A., and Zeghloul,  S., 1997, “The 6-DOF 2-Delta Parallel Robot,” Robotica, 15(4), pp. 407–416.
Lee,  M. K., and Park,  K. W., 1999, “Kinematics and Dynamics Analysis of a Double Parallel Manipulator for Enlarging Workspace and Avoiding Singularities,” IEEE Trans. Rob. Autom., 15(6), pp. 1024–1034.
Zabalza, I., Ros, J., Gil, J. J., Pintor, J. M., and Jimenez, J. M., 2002, “Tri-Scott. A New Kinematic Structure for a 6-DOF Decoupled Parallel Manipulator,” Proc. of the Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Quebec, Canada, pp. 12–15.

Figures

Grahic Jump Location
A three-loop spatial mechanism
Grahic Jump Location
A HOC and its equivalent SOC
Grahic Jump Location
A three-limb parallel manipulator
Grahic Jump Location
One-dimension-translation parallel manipulator (a) Sarrus mechanism (b) Double Sarrus mechanism
Grahic Jump Location
A planar michanism with an inactive joint
Grahic Jump Location
A 2-DOF partially decoupled parallel manipulator
Grahic Jump Location
Selection of actuacted joints for a parallel manipulator
Grahic Jump Location
Decoupled mechanism (a) {-R∥R∥C-}⊥{-R∥R∥C-}∥{-R∥R∥C-} (b) {-C∥R-P-}⊥{-C∥R-P-} (c) {-C∥R-P-}⊥{-C∥R-P-}∥{-C∥R-P-}

Tables

Errata

Discussions

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