Title :
Kinematic synthesis of parallel manipulators: a Lie theoretic approach
Author :
Liu, G.F. ; Meng, J. ; Xu, J.J. ; Li, Z.X.
Author_Institution :
Dept. of Electr. & Electron. Eng., Hong Kong Univ. of Sci. & Technol., Kowloon, China
Abstract :
This paper provided a unified geometric framework for kinematic analysis and synthesis of parallel manipulators. We gave a strict definition on motion types of a mechanism based on distributions on a Lie group. We derived conditions for parallel manipulators with Lie subgroup motions using the intersection of the permissible velocity spaces, or the direct sum of the constraint force spaces of each subchain, and the integration theory on a Lie group. Several practical examples were studied in detail to verify our approach.
Keywords :
Lie algebras; Lie groups; manipulator kinematics; path planning; Lie group; Lie subgroup motions; Lie theoretic approach; constraint force spaces; integration theory; kinematic synthesis; parallel manipulators; permissible velocity spaces; unified geometric framework; Concurrent computing; Constraint theory; Fasteners; Geometry; Joining processes; Kinematics; Manipulators; Motion analysis; Robots;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249180
