DocumentCode
320918
Title
Design of a 3-DOF parallel translating manipulator with U-P-U joints kinematic chains
Author
Leguay-Durand, Sylvie ; Reboulet, Claude
Author_Institution
SUPAERO, ONERA-CERT, Toulouse, France
Volume
3
fYear
1997
fDate
7-11 Sep 1997
Firstpage
1637
Abstract
An analytical and algebraic procedure based on the screw-systems theory for the design of general parallel manipulators is presented. After recalling some theoretical features, serial kinematic chains are considered and then arranged in parallel, the resulting motion being specified as an elementary screw-system. Finally, constraints for the geometrical design as well as kinematic properties are deduced. The method described is applied to the design of a parallel structure with U-P-U joint kinematic chains
Keywords
computational geometry; control system synthesis; manipulator kinematics; matrix algebra; 3-DOF parallel translating manipulator; UPU joints; constraints; geometrical design; kinematic chains; prismatic joints; revolute joints; screw-systems theory; Character recognition; Computational geometry; Fasteners; Inspection; Jacobian matrices; Kinematics; Leg; Manipulator dynamics; Parallel robots; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location
Grenoble
Print_ISBN
0-7803-4119-8
Type
conf
DOI
10.1109/IROS.1997.656577
Filename
656577
Link To Document