Title :
Lie theoretical approach to synthesizing T(3) parallel kinematic manipulators
Author :
Wu, Yuanqing ; Ding, Han ; Meng, Jian ; Li, Zexiang
Author_Institution :
Dept. of Mech. Eng., Shanghai Jiao Tong Univ., China
Abstract :
Various parallel kinematic manipulator (PKM) type design papers enumerate eligible links as the combination of revolute and prismatic joints and synthesize using local screw theory, but analysis and comparison on real capacity of different types has not been developed yet. This paper applies differential Lie group tools to developing a spectrum of so called regular link spatial translation (T(3)) PKM, which maximized workspace from a topological point of view.
Keywords :
Lie groups; manipulator kinematics; T(3) parallel kinematic manipulators; differential Lie group; regular link spatial translation PKM; type synthesis; Constraint theory; Fasteners; Jacobian matrices; Manipulators; Mechanical engineering; Orbital robotics; Prototypes; Robot kinematics; Space technology; Topology; Lie subgroup; T (3) PKM; coset; regular submanifold; type synthesis;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545145
