Name
Abstract | ||
|---|---|---|
With the introduction of virtual chains to represent the motion patterns of 5-DOF motions, a classification of 5-DOF PMs (parallel manipulators) is proposed at first. A general method for the type synthesis of 5-DOF PMs is then proposed based on screw theory and using the concept of virtual chains. The type synthesis of US-equivalent PMs is presented in detail to show the application of the proposed approach. US-equivalent PMs are the parallel counterparts of the 5-DOF US serial manipulators. For a US-equivalent PM, the moving platform can rotate arbitrarily about a point moving along a spherical surface. The type synthesis of legs for US-equivalent PKCs (parallel kinematic chains), the type synthesis of US-equivalent PKCs, as well as the selection of actuated joints of US-equivalent PMs are dealt with in sequence. US-equivalent PKCs with and without inactive joints are synthesized. Several US-equivalent PMs as well as other classes of 5-DOF PMs with identical type of legs are obtained. © 2005 Wiley Periodicals, Inc. |
Year | DOI | Venue |
|---|---|---|
2005 | 10.1002/rob.v22:10 | J. Field Robotics |
Keywords | Field | DocType |
parallel manipulator | Rotation,Type synthesis,Kinematics,Control theory,Control engineering,Serial manipulator,Screw theory,Mathematics | Journal |
Volume | Issue | ISSN |
22 | 10 | 0741-2223 |
Citations | PageRank | References |
20 | 1.75 | 5 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Xianwen Kong | 1 | 132 | 15.68 |
| Clément M. Gosselin | 2 | 271 | 31.88 |