DocumentCode
399391
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
Volume
3
fYear
2003
fDate
27-31 Oct. 2003
Firstpage
2096
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN
0-7803-7860-1
Type
conf
DOI
10.1109/IROS.2003.1249180
Filename
1249180
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