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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.

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Copyright © 2010 by American Society of Mechanical Engineers
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Figures

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Figure 2

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

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Figure 3

The Schönflies-motion generator

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Figure 4

The UPU translational parallel manipulator

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Figure 5

2RPS-UPS parallel manipulator

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Figure 6

Mechanism with bifurcation of 1DOF rotation

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