Finite Motion Validation for Parallel Manipulators: A Differential Geometry Approach

Author

Wu, Yuanqing ; Ding, Han ; Meng, Jian ; Li, Zexiang

Author_Institution

Dept. of Mech. Eng., Shanghai Jiao Tong Univ.

fYear

2006

fDate

Oct. 2006

Firstpage

502

Lastpage

507

Abstract

Type synthesis of low (3-5) degree of freedom (Dof) spatial parallel manipulators is well documented in literature. Recent approaches such as proposed in J.M. Herve and F. Sparacino (1991) - Z. Huang and Q.C. Li (2003) showed some systematic design capability, but did not develop an equally effective means to check for prescribed finite motion. In this paper, we studied the finite motion set of parallel manipulators from a general input-affine nonlinear system viewpoint. Differential geometry tools for controllability (reachability) analysis of nonlinear system on a differential manifold are utilized together with lie group theory. Our techniques are shown to be effective by applying to a systematic type synthesis method proposed in M. Jian, et al. (2005) and W. Yuanqing, et al. (2005)

Keywords

Lie groups; control system analysis; control system synthesis; controllability; manipulator kinematics; nonlinear control systems; reachability analysis; controllability; differential geometry approach; finite motion validation; reachability analysis; spatial parallel manipulators; Computational geometry; Control systems; Fasteners; Intelligent robots; Kinematics; Manipulators; Mechanical engineering; Nonlinear control systems; Nonlinear systems; Solid modeling; Parallel manipulator(PM); differential geometry; input-affine nonlinear system; lie group; nonlinear reachability;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0259-X

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.282601

Filename

4059232