Robotic mechanisms in general can be of either serial-chain, parallel-chain, or hybrid (a combination of both parallel and serial chains) geometry. While it can be asserted that kinematic theories and techniques are well established for fully serial-chain manipulators, the same assertion cannot be made when it is considered in the general context. In this article, we present a general procedure for systematic formulation and characterization of the instantaneous kinematics for a robotic mechanism with a general parallel-chain geometry. A kinestatic approach based on screw system theory is adopted in this treatment. The resulting equation is a compact Jacobian matrix of the system which includes attributes from not only the active joints but also the passive constraints. An example has been provided to demonstrate the methodology as well as its theoretical feasibility.
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December 1995
Research Papers
Kinestatic Analysis of General Parallel Manipulators
Shou-Hung Ling,
Shou-Hung Ling
Department of Mechanical Engineering And Robotics Center, Florida Atlantic University, Boca Raton, FL 33431
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Ming Z. Huang
Ming Z. Huang
Department of Mechanical Engineering And Robotics Center, Florida Atlantic University, Boca Raton, FL 33431
Search for other works by this author on:
Shou-Hung Ling
Department of Mechanical Engineering And Robotics Center, Florida Atlantic University, Boca Raton, FL 33431
Ming Z. Huang
Department of Mechanical Engineering And Robotics Center, Florida Atlantic University, Boca Raton, FL 33431
J. Mech. Des. Dec 1995, 117(4): 601-606 (6 pages)
Published Online: December 1, 1995
Article history
Received:
February 1, 1994
Revised:
February 1, 1995
Online:
December 11, 2007
Citation
Ling, S., and Huang, M. Z. (December 1, 1995). "Kinestatic Analysis of General Parallel Manipulators." ASME. J. Mech. Des. December 1995; 117(4): 601–606. https://doi.org/10.1115/1.2826727
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