Structural synthesis and analysis of serial–parallel hybrid mechanisms with spatial multi-loop kinematic chains

Schmidt, 2000, A graph grammar approach for structure synthesis of mechanisms, ASME Journal of Mechanical Design, 122, 371, 10.1115/1.1315299 Warnaar, 1995, Kinematic synthesis of deployable–foldable truss structures using graph theory, part 1: graph generation, ASME Journal of Mechanical Design, 117, 112, 10.1115/1.2826094 Harary, 1990, Logical foundations of kinematic chains: graphs, line graphs, and hypergraphs, ASME Journal of Mechanical Design, 112, 79, 10.1115/1.2912583 Kong, 2007, Type synthesis of parallel mechanisms with multiple operation modes, ASME Journal of Mechanical Design, 129, 595, 10.1115/1.2717228 Kong, 2004, Synthesis type of 3-DOF spherical parallel manipulators based on screw theory, ASME Journal of Mechanical Design, 126, 101, 10.1115/1.1637655 Kong, 2008, Type synthesis of six-DOF wrist-partitioned parallel manipulators, ASME Journal of Mechanical Design, 130, 10.1115/1.2900717 Kong, 2006, Type synthesis of 4-DOF SP-equivalent parallel manipulators: a virtual chain approach, Mechanism and Machine Theory, 41, 1306, 10.1016/j.mechmachtheory.2006.01.004 Kong, 2005, Type synthesis of 3-DOF PPR-equivalent parallel manipulators based on screw theory and the concept of virtual chain, ASME Journal of Mechanical Design, 127, 1113, 10.1115/1.2044787 Hervé, 1999, The Lie group of rigid body displacements, a fundamental tool for mechanism design, Mechanism and Machine Theory, 34, 719, 10.1016/S0094-114X(98)00051-2 Fanghella, 1995, Metric relations and displacement groups in mechanism and robot kinematics, ASME Journal of Mechanical Design, 117, 470, 10.1115/1.2826702 Rico, 2008, New considerations on the theory of type synthesis of fully parallel platforms, ASME Journal of Mechanical Design, 130, 10.1115/1.2976447 Salgado, 2007, A parallelogram-based parallel manipulator for Schönflies motion, ASME Journal of Mechanical Design, 129, 1243, 10.1115/1.2779898 Salgado, 2008, Synthesis and design of a novel 3T1R fully-parallel manipulator, ASME Journal of Mechanical Design, 130, 10.1115/1.2839005 Lee, 2006, Translational parallel manipulators with doubly planar limbs, Mechanism and Machine Theory, 41, 433, 10.1016/j.mechmachtheory.2005.06.006 Lee, 2007, Cartesian parallel manipulators with pseudoplanar limbs, ASME Journal of Mechanical Design, 129, 1256, 10.1115/1.2779892 Angeles, 2004, Synthesis of parallel manipulators, ASME Journal of Mechanical Design, 126, 617, 10.1115/1.1667955 Huynh, 2005, Chains of three degree-of-freedom tripod mechanisms with planar–spherical bonds, ASME Journal of Mechanical Design, 127, 95, 10.1115/1.1825439 Li, 2004, Type synthesis of 3R2T 5-DOF parallel mechanisms using the lie group of displacements, IEEE Transactions on Robotics and Automation, 20, 173, 10.1109/TRA.2004.824650 Karouia, 2004, Asymmetrical 3-dof spherical parallel mechanisms, European Journal of Mechanics A/Solids, 24, 47, 10.1016/j.euromechsol.2004.10.001 Refaat, 2006, Asymmetrical three-DOFs rotational–translational parallel-kinematics mechanisms based on Lie group theory, European Journal of Mechanics A/Solids, 25, 550, 10.1016/j.euromechsol.2005.11.001 Mitrouchev, 2001, Symbolic structural synthesis and a description method for planar kinematic chains in robotics, European Journal of Mechanics A/Solids, 20, 777, 10.1016/S0997-7538(01)01152-4 Shai, 2006, Extension of graph theory to the duality between static systems and mechanisms, ASME Journal of Mechanical Design, 128, 179, 10.1115/1.2120827 Campos, 2008, A type synthesis method for hybrid robot structures, Mechanism and Machine Theory, 43, 984, 10.1016/j.mechmachtheory.2007.07.006 Huiping, 2005, Synthesis and structure analysis of kinematic structures of 6-dof parallel robotic mechanisms, Mechanism and Machine Theory, 40, 1164, 10.1016/j.mechmachtheory.2004.12.020 Gogu, 2005, Mobility of mechanisms: a critical review, Mechanism and Machine Theory, 40, 1068, 10.1016/j.mechmachtheory.2004.12.014 Alizade, 2007, Structural synthesis of serial platform manipulators, Mechanism and Machine Theory, 42, 580, 10.1016/j.mechmachtheory.2006.05.005 Alizade, 2004, Structural synthesis of parallel manipulators, Mechanism and Machine Theory, 39, 857, 10.1016/j.mechmachtheory.2004.02.008 Alizade, 2008, Structural synthesis of Euclidean platform robot manipulators with variable general constraints, Mechanism and Machine Theory, 43, 1431, 10.1016/j.mechmachtheory.2007.11.006 Romdhane, 1999, Design and analysis of a hybrid serial–parallel manipulator, Mechanism and Machine Theory, 34, 1037, 10.1016/S0094-114X(98)00079-2 Tanev, 2000, Kinematics of a hybrid (parallel–serial) robot manipulator, Mechanism and Machine Theory, 35, 1183, 10.1016/S0094-114X(99)00073-7 Bandyopadhyay, 2004, Analytical determination of principal twists in serial, parallel and hybrid manipulators using dual vectors and matrices, Mechanism and Machine Theory, 39, 1289, 10.1016/j.mechmachtheory.2004.05.017 Jung, 2008, Stiffness mapping of compliant parallel mechanisms in a serial arrangement, Mechanism and Machine Theory, 43, 271, 10.1016/j.mechmachtheory.2007.04.006 Sukhan, 1993, Efficient inverse kinematics for serial connections of serial and parallel manipulators, IEEE/RSJ International Conference on Intelligent Robots and Systems, 93, 1635 Tsai, 2002, Kinematic analysis of 3-DOF position mechanisms for use in hybrid kinematic machines, ASME Journal of Mechanical Design, 124, 245, 10.1115/1.1468860 Zoppi, 2006, On the velocity analysis of interconnected chains mechanisms, ASME Journal of Mechanical Design, 41, 1346 Ramadan, 2007, New design of a compact parallel micro–nano two-fingered manipulator hand, IEEE International Conference on Nano/Micro Engineered and Molecular Systems, 59, 515 Ishii, 2007, Development of a new bending mechanism and its application to robotic forceps manipulator, IEEE International Conference on Robotics and Automation, 59, 238 Li, 2005, Conceptual design and dimensional synthesis of a reconfigurable hybrid robot, ASME Journal of Manufacturing Science and Engineering, 127, 647, 10.1115/1.1947208 Liu, 2007, Kinematic design of a 5-DOF hybrid robot with large workspace/limb-stroke ratio, ASME Journal of Mechanical Design, 129, 530, 10.1115/1.2712220 Qiang, 2009, Structural synthesis of serial–parallel hybrid mechanisms based on representation and operation of logical matrix, ASME Journal of Mechanisms and Robotics, 1 Qiang, 2009, Structural synthesis of serial–parallel hybrid mechanisms via group theory and representation of logical matrix, IEEE International Conference and Automation, 1392 Krishnamurty, 1992, Branching determination in nondyadic planar multi-loop mechanisms, ASME Journal of Mechanical Design, 114, 245, 10.1115/1.2916938 Bagci, 1992, Determining general and overclosing constraints in mechanism mobility using structural finite element joint freedoms, ASME Journal of Mechanical Design, 114, 376, 10.1115/1.2926563 Chaudhary, 2007, Constraint wrench formulation for closed-loop systems using two-level recursions, ASME Journal of Mechanical Design, 129, 1234, 10.1115/1.2779890 Liu, 1995, Identification and classification of multi-degree-of-freedom and multi-loop mechanisms, ASME Journal of Mechanical Design, 117, 104, 10.1115/1.2826092 Shen, 2000, Configuration analysis of complex multi-loop linkages and manipulators, Mechanism and Machine Theory, 35, 353, 10.1016/S0094-114X(99)00018-X Kovacs, 1999, An algorithm for the kinematic analysis and optimal input joint assignment of recursive mechanisms, Mechanism and Machine Theory, 34, 615, 10.1016/S0094-114X(98)00001-9 Gogu, 2005, Mobility and spatiality of parallel robots revisited via theory of linear transformations, European Journal of Mechanics A/Solids, 24, 690, 10.1016/j.euromechsol.2005.02.004 Gogu, 2005, Chebychev–Grubler–Kutzbach's criterion for mobility calculation of multi-loop mechanisms revisited via theory of linear transformations, European Journal of Mechanics A/Solids, 24, 427, 10.1016/j.euromechsol.2004.12.003 Martinez, 2003, On mobility analysis of linkages using group theory, ASME Journal of Mechanical Design, 125, 70, 10.1115/1.1541628