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On the dynamics of parallel manipulators
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2002Studies the dynamics of parallel manipulators. We first have a brief review and discussion on different dynamics formulations in the literature (Newton-Euler, direct Lagrangian, and Lagrange-D'Alembert formulation on the reduced system). Then we show the equivalence of these methods. Based on the concepts from differential manifolds, we prove that away
Yiu Kuen Yiu +4 more
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Enumeration of parallel manipulators
Robotica, 2009SUMMARYIn this paper, we present a new method of enumeration of parallel manipulators with one end-effector. The method consists of enumerating all the manipulators possible with one end-effector that a single kinematic chain can originate. A very useful simplification for kinematic chain, mechanism and manipulator enumeration is their representation ...
Roberto Simoni +2 more
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Manipulabilities Of Serial-parallel Manipulator Systems
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005This paper presents two different ap- proaches of deflning the manipulabilities and resistivi- ties of serial-parallel manipulator systems. In the flrst approach, the manipulability (resistivity) of the serial- parallel structure is dehed by imposing the kinematic constraint on the local manipulabilities (local resistiv- ities), each of which is ...
Sukhan Lee 0001, Sungbok Kim
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A parallel manipulator for mobile manipulating UAVs
2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA), 2015Manipulating objects using arms mounted to unmanned aerial vehicles (UAVs) is attractive because UAVs may access many locations that are otherwise inaccessible to traditional mobile manipulation platforms such as ground vehicles. Most previous efforts seeking to coordinate the combined manipulator-UAV system have focused on using a manipulator to ...
Todd W. Danko +2 more
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Workspaces of Planar Parallel Manipulators
Mechanism and Machine Theory, 1997zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Merlet, Jean-Pierre +2 more
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Inverse dynamics of a parallel manipulator
Journal of Robotic Systems, 1994AbstractPresented is an analysis of the kinematics and the inverse dynamics of a proposed three degree of freedom (dof) parallel manipulator resembling the Stewart platform in a general form. In the kinematic analysis, the inverse kinematics, velocity, and acceleration analyses are performed, respectively, using vector analysis and general homogeneous ...
Hyunsok Pang, Mohsen Shahinpoor
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Analytic Jacobian of in-parallel manipulators
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), 2002A general formulation to obtain an analytic Jacobian matrix for in-parallel manipulators has not been developed yet, although several authors addressed it. This paper suggests a consistent approach to obtain the instantaneous kinematic relation of in-parallel manipulators, by extending the results of screw theory to the forward and inverse ...
Doik Kim, Wan Kyun Chung, Youngil Youm
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Micro teleoperation with parallel manipulator
Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113), 2002In this paper, we discuss about micro teleoperation with haptic interfaces. We developed the micro teleoperation systems for micro tasks, such as assembly or manufacturing. We show about structure of master/slave manipulators, its control and experimental results of teleoperation with the manipulators in this paper.
Noriaki Ando +2 more
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The free mobility of a parallel manipulator
Robotica, 2006Singularities of a manipulator have been addressed repeatedly. However, the singularities and the degree(s) of freedom, as a matter of fact, are two different aspects of the mobility of a manipulator. Consequently, this paper dedicates to discussing the mobility properties through mobility space, which synchronously define the type, number and ...
Jing-Shan Zhao +3 more
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Type Synthesis of Six-DOF Wrist-Partitioned Parallel Manipulators [PDF]
Journal of Mechanical Design, Transactions of the ASME, 2008 A six-DOF wrist-partitioned parallel manipulator is a parallel manipulator in which three of the six actuated joints are used to control the position of a point on the moving platform while the other three are further used to control the orientation of ...
Xianwen Kong +2 more
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