Jacobian Analysis of Limited-DOF Parallel Manipulators-Reference-Cited by-同舟云学术

Jacobian Analysis of Limited-DOF Parallel Manipulators

Published:2002-05-16 Issue:2 Volume:124 Page:254-258
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Joshi Sameer A.¹,Tsai Lung-Wen²

Affiliation:

1. Department of Mechanical Engineering and Institute for Systems Research, University of Maryland, College Park, MD 20742

2. Department of Mechanical Engineering, Bourns College of Engineering, University of California, Riverside, CA 92521

Abstract

This paper presents a methodology for the Jacobian analysis of limited degrees-of-freedom (DOF) parallel manipulators. A limited-DOF parallel manipulator is a spatial parallel manipulator which has less than six degrees-of-freedom. It is shown that a 6×6 Jacobian matrix, which provides information about both architecture and constraint singularities, can be derived by making use of the theory of reciprocal screws. The 3-UPU and 3-RPS parallel manipulators are used as examples to demonstrate the methodology.

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/124/2/254/5797772/254_1.pdf

Reference21 articles.

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3. Di Gregorio, R., and Parenti-Castelli, V., 1999, “Mobility Analysis of the 3-UPU Parallel Mechanism Assembled for a Pure Translational Motion,” Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, GA, September 19–23, pp. 520–525.

4. Gosselin, C., and Angeles, J., 1989, “The Optimum Kinematic Design of a Spherical Three-Degree-of-Freedom Parallel Manipulator,” ASME J. Mech. Des., 111, pp. 437–445.

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