Kinematic Analysis of a Novel Complex DoF Parallel Manipulator
In this research work, a novel parallel manipulator
with high positioning and orienting rate is introduced. This
mechanism has two rotational and one translational degree of
freedom. Kinematics and Jacobian analysis are investigated.
Moreover, workspace analysis and optimization has been performed
by using genetic algorithm toolbox in Matlab software. Because of
decreasing moving elements, it is expected much more better
dynamic performance with respect to other counterpart mechanisms
with the same degrees of freedom. In addition, using couple of
cylindrical and revolute joints increased mechanism ability to have
more extended workspace.
[1] J. -P, Merlet, Parallel Robots, Springer, 2006.
[2] O. Masory, and J.Wang, "Workspace evaluation of Stewart platforms",
Advanced Robotics Journal, Vol. 9, no. 4, pp. 443-461, 1995.
[3] T. Yoshikawa, "Manipulability of robotic mechanisms," Int. J. Robot.
Res., Vol.4, no. 2, pp. 3-9, 1985.
[4] M.A. Hosseini, H.R. M. Daniali, and H.D. Taghirad, "Dexterous
Workspace optimization of Triceps Parallel Manipulator", Advanced
Robotics, Vol. 25, pp. 1697-1712, 2011.
[5] J. K. Salisbury and J. J. Craig, "Articulated hands: Force control and
kinematic issues", Int. J. Robot. Res., Vol. 4, pp. 4-17, 1982.
[6] F. Ranjbaran, J. Angeles, M. A. Gonzalez-Palacios and R. V. Patel, "The
mechanical design of a seven-axes manipulator with kinematic
isotropy", Journal of Intelligent and Robotic Systems, Vol. 14, pp. 21-
41, 1995.
[7] O. Ma and J. Angeles, "Optimum architecture design of platform
manipulators", Proc. IEEE Int. Conf. Advanced Robotics, 1991.
[8] D. Chablat, Ph. Wenger, S. Caro and J. Angeles, "The iso-conditioning
loci of planar three dof parallel manipulators", Proceedings of
DETC-2002, ASME Design Engineering Technical Conferences,
Montreal, Quebec, Canada, 2002.
[9] C.M. Gosselin, "The optimum design of robotic manipulators using
dexterity indices", Journal of Robotics and Autonomous Systems, Vol.9,
no.4, pp. 213-226, 1992.
[10] S.-G. Kim and J. Ryu, "New dimensionally homogeneous jacobian
matrix formulation by three end-effector points for optimal design of
parallel manipulators", IEEE Transactions on Robotics and Automation,
Vol. 19, no. 4, pp. 731-737, 2003.
[11] G. Pond and J.A. Carretero, "Quantitative dexterous workspace
comparison of parallel manipulators", Mechanism and Machine Theory,
Vol.42, no.10, pp. 1388-1400, 2007.
[12] J. Angeles, "Is there a characteristic length of a rigid-body
displacement?", Mechanism and Machine Theory, Vol.41, pp.884-896,
2006.
[13] M.A. Hosseini, H.M. Daniali, "Weighted local conditioning index of a
positioning and orienting parallel manipulator", Sientica Iranica B,
Vol.18, no .1, pp.115-120, 2011.
[14] D. Zlatanov, I.A. Bonev and C.M. Gosselin, "Constraint Singularities of
Parallel Mechanisms", IEEE International Conference on Robotics and
Automation (ICRA 2002), Washington, D.C., USA, May 11-15, 2002.
[15] M.A. Hosseini, H.M. Daniali, "Machine Tool Design Optimization of
High Resolution Parallel Hexapod in Cartesian Workspace, Majlesi
Journal of Mechanical Engineering, Vol. 4, no. 3, pp. 75-84, 2011.
[1] J. -P, Merlet, Parallel Robots, Springer, 2006.
[2] O. Masory, and J.Wang, "Workspace evaluation of Stewart platforms",
Advanced Robotics Journal, Vol. 9, no. 4, pp. 443-461, 1995.
[3] T. Yoshikawa, "Manipulability of robotic mechanisms," Int. J. Robot.
Res., Vol.4, no. 2, pp. 3-9, 1985.
[4] M.A. Hosseini, H.R. M. Daniali, and H.D. Taghirad, "Dexterous
Workspace optimization of Triceps Parallel Manipulator", Advanced
Robotics, Vol. 25, pp. 1697-1712, 2011.
[5] J. K. Salisbury and J. J. Craig, "Articulated hands: Force control and
kinematic issues", Int. J. Robot. Res., Vol. 4, pp. 4-17, 1982.
[6] F. Ranjbaran, J. Angeles, M. A. Gonzalez-Palacios and R. V. Patel, "The
mechanical design of a seven-axes manipulator with kinematic
isotropy", Journal of Intelligent and Robotic Systems, Vol. 14, pp. 21-
41, 1995.
[7] O. Ma and J. Angeles, "Optimum architecture design of platform
manipulators", Proc. IEEE Int. Conf. Advanced Robotics, 1991.
[8] D. Chablat, Ph. Wenger, S. Caro and J. Angeles, "The iso-conditioning
loci of planar three dof parallel manipulators", Proceedings of
DETC-2002, ASME Design Engineering Technical Conferences,
Montreal, Quebec, Canada, 2002.
[9] C.M. Gosselin, "The optimum design of robotic manipulators using
dexterity indices", Journal of Robotics and Autonomous Systems, Vol.9,
no.4, pp. 213-226, 1992.
[10] S.-G. Kim and J. Ryu, "New dimensionally homogeneous jacobian
matrix formulation by three end-effector points for optimal design of
parallel manipulators", IEEE Transactions on Robotics and Automation,
Vol. 19, no. 4, pp. 731-737, 2003.
[11] G. Pond and J.A. Carretero, "Quantitative dexterous workspace
comparison of parallel manipulators", Mechanism and Machine Theory,
Vol.42, no.10, pp. 1388-1400, 2007.
[12] J. Angeles, "Is there a characteristic length of a rigid-body
displacement?", Mechanism and Machine Theory, Vol.41, pp.884-896,
2006.
[13] M.A. Hosseini, H.M. Daniali, "Weighted local conditioning index of a
positioning and orienting parallel manipulator", Sientica Iranica B,
Vol.18, no .1, pp.115-120, 2011.
[14] D. Zlatanov, I.A. Bonev and C.M. Gosselin, "Constraint Singularities of
Parallel Mechanisms", IEEE International Conference on Robotics and
Automation (ICRA 2002), Washington, D.C., USA, May 11-15, 2002.
[15] M.A. Hosseini, H.M. Daniali, "Machine Tool Design Optimization of
High Resolution Parallel Hexapod in Cartesian Workspace, Majlesi
Journal of Mechanical Engineering, Vol. 4, no. 3, pp. 75-84, 2011.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:51554", author = "M.A. Hosseini and P. Ebrahimi Naghani", title = "Kinematic Analysis of a Novel Complex DoF Parallel Manipulator", abstract = "In this research work, a novel parallel manipulator
with high positioning and orienting rate is introduced. This
mechanism has two rotational and one translational degree of
freedom. Kinematics and Jacobian analysis are investigated.
Moreover, workspace analysis and optimization has been performed
by using genetic algorithm toolbox in Matlab software. Because of
decreasing moving elements, it is expected much more better
dynamic performance with respect to other counterpart mechanisms
with the same degrees of freedom. In addition, using couple of
cylindrical and revolute joints increased mechanism ability to have
more extended workspace.", keywords = "Kinematics, Workspace, 3-CRS/PU, Parallel robot", volume = "6", number = "7", pages = "1149-5", }
