Research Papers

Mobility Analysis of Parallel Manipulators and Pattern of Transform Matrix

[+] Author and Article Information
Chao Chen

Department of Mechanical and Aerospace Engineering, Monash University, VIC 3800, Australiachao.chen@eng.monash.edu.ca

J. Mechanisms Robotics 2(4), 041003 (Aug 30, 2010) (11 pages) doi:10.1115/1.4002079 History: Received November 02, 2009; Revised May 19, 2010; Published August 30, 2010; Online August 30, 2010

The mobility or degrees of freedom is a fundamental issue in mechanisms and robotics. In this work, we investigate the mobility of parallel manipulators from a new point of view, and introduce a new concept, the pattern of transform matrix. It is shown that both general and modified Chebychev–Gruble–Kutzbach formulas are the special cases of the pattern analysis. We further propose a framework upon the pattern analysis of transform matrix to calculate the mobility, to evaluate the property of the motion, and to determine the exact-actuation arrangement. The proposed approach should be general enough to evaluate any existing parallel manipulator. Five parallel manipulators with special geometric conditions and lower mobilities are discussed.

Copyright © 2010 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.



Grahic Jump Location
Figure 5

2RPS-UPS parallel manipulator

Grahic Jump Location
Figure 6

Mechanism with bifurcation of 1DOF rotation

Grahic Jump Location
Figure 4

The UPU translational parallel manipulator

Grahic Jump Location
Figure 3

The Schönflies-motion generator

Grahic Jump Location
Figure 2

The 3R2T parallel mechanism: (a) attached frames and (b) DH notations




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In