DocumentCode
2236915
Title
Mobility analysis of lower-mobility parallel manipulators based on screw theory
Author
Li, Qinchuan ; Huang, Zhen
Author_Institution
Robotics Res. Center, Yanshan Univ., Hebei, China
Volume
1
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
1179
Abstract
Mobility analysis of lower-mobility parallel manipulators is of great importance in the context of analysis and design. A method is proposed for the mobility analysis of lower-mobility parallel manipulators based on screw theory. The limb structural constraint acting on the moving platform is first analyzed. Then the combined effect of all limb structural constraints is obtained by investigating the geometrical conditions of the linear dependency of them. Moreover, identification of the instantaneous mechanism is performed. The method is testified through examples including 4- and 5-DOF parallel mechanisms.
Keywords
computational geometry; constraint theory; manipulator kinematics; 4-DOF; 5-DOF; limb structural constraint; lower mobility parallel manipulators; mobility analysis; moving platform; parallel mechanisms; screw theory; Costs; Fasteners; Kinematics; Manipulators; Manufacturing; Materials handling; Mobile robots; Parallel robots; Performance analysis; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241752
Filename
1241752
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