Trajectory Planning for Constrained Parallel Manipulators-Reference-Cited by-同舟云学术

Trajectory Planning for Constrained Parallel Manipulators

Published:2003-12-01 Issue:4 Volume:125 Page:709-716
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Su Hai-Jun¹,Dietmaier Peter²,McCarthy J. Michael¹

Affiliation:

1. Robotics and Automation Laboratory, University of California, Irvine, Irvine, CA 92697

2. Institute of General Mechanics, TU-Graz

Abstract

This paper presents an algorithm for generating trajectories for multi-degree of freedom spatial linkages, termed constrained parallel manipulators. These articulated systems are formed by supporting a workpiece, or end-effector, with a set of serial chains, each of which imposes a constraint on the end-effector. Our goal is to plan trajectories for systems that have workspaces ranging from two through five degrees-of-freedom. This is done by specifying a goal trajectory and finding the system trajectory that comes closest to it using a dual quaternion metric. We enumerate these parallel mechanisms and formulate a general numerical approach for their analysis and trajectory planning. Examples are provided to illustrate the results.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/125/4/709/5561336/709_1.pdf

Reference28 articles.

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2. McCarthy, J. M., 2000, Geometric Design of Linkages, Springer-Verlag, New York, NY.

3. McCarthy, J. M., 2000, “Mechanisms Synthesis Theory and the Design of Robots,” Proc. Int. Conf. Robotics and Automation, San Francisco, CA, April 24–28.

4. Lee, E., and Mavroidis, C., 2002, “Solving the Geometric Design Problem of Spatial 3R Robot Manipulators Using Polynomial Continuation,” ASME J. Mech. Des., 124(4), pp. 652–661.

5. Perez, A., and McCarthy, J. M., 2002, “Dual Quaternion Synthesis of a 2-TPR Constrained Parallel Robot,” Proc. of the WORKSHOP on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Clement M. Gosselin and Imme Ebert-Uphoff eds., Quebec City, Quebec, Canada, Oct. 3–4.

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