Type synthesis of kinematically redundant 3T1R parallel manipulators

Xianwen Kong, Damien Chablat, Stéphane Caro, Jingjun Yu, Clément Gosselin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A kinematically redundant parallel manipulator (PM) is a PM whose degrees-of-freedom (DOF) are greater than the DOF of the moving platform. It has been revealed in the literature that a kinematically redundant PM has fewer Type II kinematic singular configurations (also called forward kinematic singular configurations, static singular configurations or parallel singular configurations) and/or constraint singular configurations than its non-redundant counterparts. However, kinematically redundant PMs have not been fully explored, and the type synthesis of kinematically redundant PMs is one of the open issues. This paper deals with the type synthesis of kinematically redundant 3T1R PMs (also called SCARA PMs or Schoenflies motion generators), in which the moving platform has four DOF with respect to the base. At first, the virtual-chain approach to the type synthesis of kinematically redundant parallel mechanisms is recalled. Using this approach, kinematically redundant 3T1R PMs are constructed using several compositional units with very few mathematical derivations. The type synthesis of 5-DOF 3T1R PMs composed of only revolute joints is then dealt with systematically. This work provides a solid foundation for further research on kinematically redundant 3T1R PMs.

Original languageEnglish
Title of host publicationProceedings of the ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
PublisherAmerican Society of Mechanical Engineers
Number of pages9
Volume6 A
ISBN (Print)9780791855935
DOIs
Publication statusPublished - 2013
EventASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Portland, Oregon, United States
Duration: 4 Aug 20137 Aug 2013

Conference

ConferenceASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Abbreviated titleIDETC and CIE
CountryUnited States
CityPortland, Oregon
Period4/08/137/08/13

Fingerprint

Redundant Manipulator
Parallel Manipulator
Manipulators
Synthesis
Configuration
Degree of freedom
Kinematics
Parallel Mechanism
Generator
Unit
Motion

Keywords

  • Kinematically redundant parallel manipulator
  • Parallel manipulator
  • Screw theory
  • Type synthesis
  • Virtual-chain approach

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Kong, X., Chablat, D., Caro, S., Yu, J., & Gosselin, C. (2013). Type synthesis of kinematically redundant 3T1R parallel manipulators. In Proceedings of the ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (Vol. 6 A). [DETC2013-12575] American Society of Mechanical Engineers. https://doi.org/10.1115/DETC2013-12575
Kong, Xianwen ; Chablat, Damien ; Caro, Stéphane ; Yu, Jingjun ; Gosselin, Clément. / Type synthesis of kinematically redundant 3T1R parallel manipulators. Proceedings of the ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Vol. 6 A American Society of Mechanical Engineers, 2013.
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Kong, X, Chablat, D, Caro, S, Yu, J & Gosselin, C 2013, Type synthesis of kinematically redundant 3T1R parallel manipulators. in Proceedings of the ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. vol. 6 A, DETC2013-12575, American Society of Mechanical Engineers, ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Portland, Oregon, United States, 4/08/13. https://doi.org/10.1115/DETC2013-12575

Type synthesis of kinematically redundant 3T1R parallel manipulators. / Kong, Xianwen; Chablat, Damien; Caro, Stéphane; Yu, Jingjun; Gosselin, Clément.

Proceedings of the ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Vol. 6 A American Society of Mechanical Engineers, 2013. DETC2013-12575.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AU - Chablat, Damien

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AB - A kinematically redundant parallel manipulator (PM) is a PM whose degrees-of-freedom (DOF) are greater than the DOF of the moving platform. It has been revealed in the literature that a kinematically redundant PM has fewer Type II kinematic singular configurations (also called forward kinematic singular configurations, static singular configurations or parallel singular configurations) and/or constraint singular configurations than its non-redundant counterparts. However, kinematically redundant PMs have not been fully explored, and the type synthesis of kinematically redundant PMs is one of the open issues. This paper deals with the type synthesis of kinematically redundant 3T1R PMs (also called SCARA PMs or Schoenflies motion generators), in which the moving platform has four DOF with respect to the base. At first, the virtual-chain approach to the type synthesis of kinematically redundant parallel mechanisms is recalled. Using this approach, kinematically redundant 3T1R PMs are constructed using several compositional units with very few mathematical derivations. The type synthesis of 5-DOF 3T1R PMs composed of only revolute joints is then dealt with systematically. This work provides a solid foundation for further research on kinematically redundant 3T1R PMs.

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M3 - Conference contribution

SN - 9780791855935

VL - 6 A

BT - Proceedings of the ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference

PB - American Society of Mechanical Engineers

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Kong X, Chablat D, Caro S, Yu J, Gosselin C. Type synthesis of kinematically redundant 3T1R parallel manipulators. In Proceedings of the ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Vol. 6 A. American Society of Mechanical Engineers. 2013. DETC2013-12575 https://doi.org/10.1115/DETC2013-12575