NDLI: A new family of constrained redundant parallel manipulators

Content Provider	Springer Nature Link
Author	Gallardo Alvarado, J. Alici, G. Pérez González, L.
Copyright Year	2009
Abstract	This paper addresses the description and kinematic analysis of a new family of redundant parallel manipulators. The primary feature of the new family is to have a compact topology consisting of multi-degree of freedom non-identical limbs. In order to simplify the forward position analysis, the motion of the end-effector (platform) is decoupled into translational and rotational components with respect to the base. This kind of topology is in agreement with the parallel manipulator definition of IFToMM—a parallel manipulator “…that controls the motion of its end-effector by means of at least two kinematic chains going from the end effector towards the frame…”. In fact, adding a kinematic pair to a limb of a non-redundant parallel manipulator creates asymmetrical parallel manipulator. Analytical expressions for the forward position, velocity, and acceleration of the parallel manipulators have been obtained and solved for an exemplary 7-DOF redundant parallel manipulator. The numerical results from the analytical expressions are verified by comparing them to the results from a mechanical system simulation software as if a real parallel manipulator is being run to collect the position, velocity, and acceleration data. Finally, based on the velocity formulation, the singularity analysis of the manipulator is also provided.
Starting Page	57
Ending Page	75
Page Count	19
File Format	PDF
ISSN	13845640
Journal	Multibody System Dynamics
Volume Number	23
Issue Number	1
e-ISSN	1573272X
Language	English
Publisher	Springer Netherlands
Publisher Date	2009-09-30
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Redundant parallel manipulator Decoupled motion Closed-form solution Klein form Screw theory Kinematics Automotive Engineering Mechanical Engineering Electrical Engineering Optimization Vibration, Dynamical Systems, Control
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Mechanical Engineering Aerospace Engineering Modeling and Simulation Computer Science Applications

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