Type synthesis of 5-DOF parallel manipulators based on screw theory

Wiley - Tập 22 Số 10 - Trang 535-547 - 2005
Xianwen Kong1, Clément Gosselin1
1Département de génie mécanique, Université Laval, Québec, Québec, Canada G1K 7P4

Tóm tắt

Từ khóa


Tài liệu tham khảo

and , Parallel manipulators in robotics, Proceedings of IMACS/SICE International Symposium on Robotics, Mechatronics, and Manufacturing Systems, Kobe, 1992, pp. 409-418.

Wang, 1998, J. Rob. Syst., 14, 851, 10.1002/(SICI)1097-4563(199712)14:12<851::AID-ROB3>3.0.CO;2-T

, , , and , Structural synthesis of a class of five-DOF parallel robot mechanisms based on single-opened-chain units, Proceedings of the ASME 2001 Design Engineering Technical Conferences and Computers in Engineering Conference, Pittsburgh, PA, 2001, DETC2001/DAC-21153.

Huang, 2001, Journal of Yanshan University, 25, 283

Huang, 2002, Int. J. Robot. Res., 21, 131, 10.1177/027836402760475342

Fang, 2002, Int. J. Robot. Res., 21, 799, 10.1177/0278364902021009314

Gao, 2002, Mech. Mach. Theory, 37, 1395, 10.1016/S0094-114X(02)00044-7

Schreiber, 2003, Mech. Mach. Theory, 38, 535, 10.1016/S0094-114X(03)00007-7

The planar-spherical kinematic bond: implementation in parallel mechanisms, http://www.parallemic.org/Reviews/Review013.html, 2003.

Li, 2004, IEEE Trans. Rob. Autom., 20, 173, 10.1109/TRA.2004.824650

Kinematic geometry of mechanisms, Cambridge University Press, Cambridge, UK, 1978.

Robot analysis: The mechanics of serial and parallel manipulators, John Wiley & Sons Inc., New York, 1999.

, , and , Applications of screw system system theory and Lie theory to spatial kinematics: A tutorial, 2000 ASME Design Engineering Technical Conferences, Baltimore, MD, 2000.

Kong, 2004, ASME J. Mech. Des., 126, 101, 10.1115/1.1637655

, , and , Synthesis by screw algebra of translating inparallel actuated mechanisms, Advances in robot kinematics, and (Editors), Kluwer Academatic Publishers, Dordrecht, 2000, pp. 433-440.

Kong, 2004, ASME J. Mech. Des., 126, 83, 10.1115/1.1637662

Kong, 2004, IEEE Trans. Rob. Autom., 20, 181, 10.1109/TRA.2003.820853

, and , Constraint singularities of parallel mechanisms, Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Washington, DC, 2002, pp. 496-502.