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contributor authorJing Wang
contributor authorClément M. Gosselin
date accessioned2017-05-09T00:13:58Z
date available2017-05-09T00:13:58Z
date copyrightJanuary, 2004
date issued2004
identifier issn1050-0472
identifier otherJMDEDB-27774#109_1.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/130575
description abstractThis paper addresses the singularity analysis and the design of three new types of kinematically redundant parallel mechanisms, i.e., the four-degree-of-freedom planar and spherical parallel mechanisms and the seven-degree-of-freedom spatial Stewart platform. The main idea in the design of these parallel manipulators is the addition of one redundant degree of freedom in one of the kinematic chains of the nonredundant manipulator. Such manipulators can be used to avoid the singularities inside the workspace of nonredundant manipulators. After describing the geometry of the manipulators, the velocity equations are derived and the expressions for the Jacobian matrices are obtained. Then, the singularity conditions are discussed. Finally, the expressions of the singularity loci of the kinematically redundant mechanisms are obtained and the singularity loci of the nonredundant and redundant manipulators are compared. It is shown here that the conditions for the singularity of the redundant manipulators are reduced drastically relative to the nonredundant ones. As a result, the proposed kinematically redundant parallel manipulators may be of great interest in several applications.
publisherThe American Society of Mechanical Engineers (ASME)
titleKinematic Analysis and Design of Kinematically Redundant Parallel Mechanisms
typeJournal Paper
journal volume126
journal issue1
journal titleJournal of Mechanical Design
identifier doi10.1115/1.1641189
journal fristpage109
journal lastpage118
identifier eissn1528-9001
keywordsDesign
keywordsEquations
keywordsManipulators
keywordsRedundant manipulators
keywordsMechanisms
keywordsParallel mechanisms
keywordsJacobian matrices
keywordsDegrees of freedom AND Chain
treeJournal of Mechanical Design:;2004:;volume( 126 ):;issue: 001
contenttypeFulltext


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