Research Papers: Mechanisms and Robotics

Type Synthesis of Six-DOF Wrist-Partitioned Parallel Manipulators

[+] Author and Article Information
Xianwen Kong

Department of Mechanical Engineering, School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh EH14 4AS, United Kingdomx.kong@hw.ac.uk

Clément M. Gosselin1

Département de Génie Mécanique, Université Laval, Pavillon Adrien-Pouliot, 1065 Avenue de la médecine, Québec, Québec, G1V 0A6, Canadagosselin@gmc.ulaval.ca

If Č represents a combination of an R joint and a P joint with parallel axes, then the axis of the Č joint refers to the axis of the R joint within the combination.


Corresponding author.

J. Mech. Des 130(6), 062302 (Apr 14, 2008) (8 pages) doi:10.1115/1.2900717 History: Received May 28, 2007; Revised October 12, 2007; Published April 14, 2008

A six-DOF wrist-partitioned parallel manipulator is a parallel manipulator in which three of the six actuated joints are used to control the position of a point on the moving platform while the other three are further used to control the orientation of the moving platform. Such parallel manipulators are, in fact, the parallel counterparts of the wrist-partitioned serial manipulators, which are widely used in industry. Unlike parallel manipulators of a general structure, a six-DOF wrist-partitioned parallel manipulator usually has simple kinematic characteristics such as its forward displacement analysis and singularity analysis are easy to solve. This paper deals with the type synthesis of six-DOF wrist-partitioned parallel manipulators. An approach is first proposed for the type synthesis of this class of parallel manipulators. Using the proposed approach, six-DOF wrist-partitioned parallel manipulators can be constructed from the types of three-DOF nonoverconstrained spherical parallel manipulators. A large number of six-DOF wrist-partitioned parallel manipulators are then obtained, and several types of practical relevance are also identified.

Copyright © 2008 by American Society of Mechanical Engineers
Topics: Manipulators
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Grahic Jump Location
Figure 3

ČŘŘ legs for condensed spherical parallel manipulators

Grahic Jump Location
Figure 4

Two condensed spherical parallel manipulators (20)

Grahic Jump Location
Figure 5

Two six-DOF wrist-partitioned parallel manipulators

Grahic Jump Location
Figure 1

(a) A three-legged six-DOF wrist-partitioned parallel manipulator and (b) its condensed spherical parallel manipulator

Grahic Jump Location
Figure 2

Some legs for spherical parallel manipulators



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