Structural design of parallel manipulators with general constraint one

Singularity Analysis, Constraint Wrenches and Optimal Design of Parallel Manipulators

A General Approach for Optimal Design of Parallel Manipulators

This work intends to deal with the optimal kinematic synthesis problem of parallel manipulators. A unified framework is proposed for optimal design of parallel manipulators. By observation that regular (e.g., hyperrectangular) workspaces are desirable for most machines, we propose the concept of effective regular workspace, which reflects both requirements on the workspace shape and quality. De...

Kinematic Analysis of General Planar Parallel Manipulators

A kinematic mapping of planar displacements is used to derive generalized constraint equations having the form of ruled quadric surfaces in the image space. The forward kinematic problem for all three legged, three degree of freedom planar parallel manipulators thus reduces to determining the points of intersection of three of these constraint surfaces, one corresponding to each leg. The invers...

1 Appropriate Design of Parallel Manipulators

Although parallel structures have found a niche market in many applications such as machine tools, telescope positioning or food packaging, they are not as successful as expected. The main reason of this relative lack of success is that the study and hardware of parallel structures have clearly not reached the same level of completeness than the one of serial structures. Among the main issues t...

Isotropic Design of Spatial Parallel Manipulators

In this paper, we study the isotropic design of two types of spatial parallel manipulators: a three-degrees-of-freedom manipulator and the Stewart–Gough platform. The isotropic conditions for Jacobian matrices, which relate the input joint velocity and output Cartesian velocity, are determined separately using a pure symbolic method. Thereafter, upon determining the isotropic conditions for bot...