NDLI: A structural synthesis method for 3-DOF translational parallel manipulators avoided platform singularities

Content Provider	IEEE Xplore Digital Library
Author	Guo Sheng FangYue Fa
Copyright Year	2004
Description	Author affiliation: Coll. of Mech. & Electron. Control Eng., Beijing Jiaotong Univ., China (Guo Sheng; FangYue Fa)
Abstract	In this paper, a kind of analytical method, based on the theory of reciprocal screws, is presented for structural synthesis of 3-DOF translation parallel manipulators avoided platform singularities. Because all motion screws and constraints screws form a 6-order spatial screw system, given a system of wrenches of 3-order constraints, the corresponding 3-order motion screws are left. According to this idea, we assume the 3-order constraints are orthogonal, so wherever the platform gone, the order of constraints system will never be decreased. Thus, the singularities are avoided successfully. All feasible limbs that can be used for construction of translation platform avoided singularities are enumerated according to the type of constraints and the number of joints making up the limbs. Further, geometrical conditions for parallel manipulators to possess finite translation motion avoided platform singularities are presented. Several novel mechanisms that satisfy design requirements are sketched as examples.
Starting Page	253
Ending Page	256
File Size	506185
Page Count	4
File Format	PDF
ISBN	0780386531
DOI	10.1109/ICARCV.2004.1468832
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-12-06
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fasteners Manipulators Constraint theory Vectors Educational institutions Control engineering Control system synthesis Design engineering Parallel robots Buildings
Content Type	Text
Resource Type	Article

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