Create New Account
Login
Search or Buy Articles
Browse Journals
Browse Proceedings
Submit your Paper
Submission Information
Journal Review
Recommend to Your Library
Call for Papers
DETERMINING SINGULARITY OF PARALLEL MANIPULATORS WITH n LINEAR ACTIVE LEGS BY CAD VARIATION GEOMETRY
Y. Lu and B. Hu
References
[1] Z. Huang, L.F. Kong, & Y.F. Fang, Theory of parallel robot and control (Beijing, China: Press of Machinery Industry, 1998).
[2] Z. Huang, L.H. Chen, & Y.W. Li, The singularity principle and property of Stewart parallel manipulator, Journal of Robotic Systems, 20(4), 2003, 163–176.
[3] Z. Huang, Y. Cao, Y.W. Li, & L.H. Chen, Structure andproperty of the singularity loci of the 3/6-Stewart-Goughplatform for general orientations, Robotica, 24, 2006, 75–84.
[4] Z. Huang & Y. Cao, Property identiﬁcation of the singularity loci of a class of Gough-Stewart manipulators, The International Journal of Robotics Research, 24(8), 2005, 675–685.
[5] Merlet J.P., Singular conﬁgurations of parallel manipulators and Grassmann geometry, International Journal of Robotics Research, 8(5), 1989, 45–56.
[6] J. Wang & C.M. Gossalin, Singularity analysis and representation of spatial ﬁve-degree-of-freedom parallel mechanisms, Journal of Robotic Systems, 14(12), 1997, 851–869.
[7] J. Wang & C.M. Gossalin, Singularity loci of a special class of spherical 3-DOF parallel mechanisms with pridmatic actuators, Transaction ASME Journal of Mechanical Design, 126(2), 2004, 319–326.
[8] G. Alıcı & B. Shirinzadeh, Loci of singular conﬁgurations of a 3-DOF spherical parallel manipulator, Robotics and Autonomous Systems, 48(2–3), 2004, 77–91.
[9] X. Kong & C.M. Gosselin, Uncertainty singularity analysis of parallel manipulators based on the instability analysis of structures, International Journal of Robotics Research, 20(11), 2001, 847–856.
[10] B. Monsarrat & C.M. Gossalin, Singularity analysis of a three-leg six-degree-of-freedom parallel platform mechanism based on Grassmann line geometry, International Journal of Robotics Research, 20(40), 2001, 312–326.
[11] S. Bandyopadhyay & G. Ashitava, Geometric characterization and parametric representation of the singularity manifold of a 6–6 Stewart platform manipulator. Mechanism and Machine Theory, 41(11), 2006, 1377–1400.
[12] S. Bandyopadhyay & G. Ashitava, Analysis of conﬁguration space singularities of closed-loop mechanisms and parallel manipulators. Mechanism and Machine Theory, 39(5), 2004, 519–544.
[13] G.-A. Jaime, J.M. Rico-Mart´ınez, & G. Alici, Kinematics and singularity analyses of a 4-dof parallel manipulator using screw theory. Mechanism and Machine Theory, 41(9), 2006: 1048–1061.
[14] R.D. Gregorio, Forward problem singularities in parallel manipulators which generate SX–YS–ZS structures, Mechanism and Machine Theory, 40(5), 2005: 600–612.
[15] J.-S. Zhao, Z.-J. Feng, K. Zhou, & J.-X. Dong, Analysis of the singularity of spatial parallel manipulator with terminal constraints, Mechanism and Machine Theory, 40(3), 2005, 275–284.
[16] S.K. Ider, Inverse dynamics of parallel manipulators in the presence of drive singularities, Mechanism and Machine Theory, 40(1), 2005: 33–44.
[17] A. Wolf, E. Ottaviano, M. Shoham, & M. Ceccarelli, Application of line geometry and linear complex approximation to singularity analysis of the 3-DOF CaPaMan parallel manipulator, Mechanism and Machine Theory, 39(1), 2004, 75–95.
[18] A.K. Dash, I-M. Chen, S.H. Yeo, & G. Yang, Workspace generation and planning singularity-free path for parallel manipulators, Mechanism and Machine Theory, 40(7), 2005, 776–805.
[19] S. Sen, B. Dasgupta, & A.K. Mallik, Variational, approach for singularity-free path-planning of parallel manipulators. Mechanism and Machine Theory, 38(11), 2003, 1165–1183.
[20] H. Zhou & T. Kwun-Lon, Path generation with singularity avoidance for ﬁve-bar slider-crank parallel manipulators, Mechanism and Machine Theory, 40(3), 2005, 371–384.
[21] Y. Lu, Using CAD Functionalities for the kinematics analysis of spatial parallel manipulators with 3-, 4-, 5-, 6-linearly driven limbs, Machine and Mechanism Theory, 39(1), 2004, 41–6.
[22] Y. Lu, Using CAD variation geometry for solving velocity and acceleration of parallel manipulators with 3-5 linear driving limbs, Transaction ASME Journal of Mechanical Design, 128, July(4), 2006, 738–746.
[23] Y. Lu, Position and workspace analyses of 3-SPR and 3-RPS parallel manipulators DETC2005-84117, Proceedings ofIDETC/CIE 2005: ASME 2005 International Design Engineering Technical Conference and Computers and Information in Engineering Conference, September 24–28, 2005, pp. 957–962, Long Beach, California, USA.
[24] Y. Lu & B. Hu, Uniﬁcation and simpliﬁcation of velocity/acceleration of limited-dof parallel manipulators with linear active legs, Mechanism and Machine Theory, 2007. doi:10.1016/j.mechmachtheory.2007.08.002
Important Links:
Abstract
DOI:
10.2316/Journal.206.2008.3.206-3018
From Journal
(206) International Journal of Robotics and Automation - 2008
Go Back