Title :
The Degree of Freedom of Parallel Robots: A Group-Theoretic Approach
Author_Institution :
Department of Mechanical Engineering & Centre for Intelligent Machines McGill University 817 Sherbrooke Street West, Montreal, Quebec, Canada H3A 2K6 angeles@cim.mcgill.ca
Abstract :
Current interest in the design of novel architectures for parallel robots with less than six degrees of freedom (dof) has called for a revisiting of the dof determination of a multiloop kinematic chain. The paper attempts to shed some light on the issue by resorting to the theory of groups, as first proposed by Hervé in 1978. The concepts, illustrated with various examples, should help robot designers produce novel architectures that would be difficult to devise otherwise.
Keywords :
PKM; degree of freedom; parallel robots; Couplings; History; Kinematics; Leg; Legged locomotion; Mechanical engineering; Mobile robots; Orbital robotics; Parallel robots; Robotic assembly; PKM; degree of freedom; parallel robots;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570248