Type synthesis of six-DOF wrist-partitioned fully parallel manipulators

Xianwen Kong, Clément M. Gosselin

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

Abstract

A six-DOF wrist-partitioned fully parallel manipulator is a parallel manipulator in which three of the six actuated joints are used to control the position of a point on the moving platform while the other three are further used to control the orientation of the moving platform. Such parallel manipulators are in fact the parallel counterparts of the wrist-partitioned serial manipulators, which are widely used in industry. Unlike parallel manipulators of a general structure, a six-DOF wrist-partitioned fully parallel manipulator usually has simple kinematic characteristics such as its forward displacement analysis and singularity analysis are easy to solve. This paper deals with the type synthesis of six-DOF wrist-partitioned fully parallel manipulators. An approach is first proposed for the type synthesis of this class of parallel manipulators. Using the proposed approach, six-DOF wrist-partitioned fully parallel manipulators can be constructed from the types of three-DOF non-overconstrained spherical parallel manipulators. A large number of six-DOF wrist-partitioned fully parallel manipulators are then obtained, and several types of practical relevance are also identified. Copyright © 2007 by ASME.

Original languageEnglish
Title of host publication2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
Pages1195-1203
Number of pages9
Volume8 PART B
Publication statusPublished - 2008
Event31st Mechanisms and Robotics Conference - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Las Vegas, NV, United States
Duration: 4 Sep 20077 Sep 2007

Conference

Conference31st Mechanisms and Robotics Conference - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Abbreviated titleIDETC/CIE2007
CountryUnited States
CityLas Vegas, NV
Period4/09/077/09/07

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Manipulators
Kinematics

Cite this

Kong, X., & Gosselin, C. M. (2008). Type synthesis of six-DOF wrist-partitioned fully parallel manipulators. In 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007 (Vol. 8 PART B, pp. 1195-1203)
Kong, Xianwen ; Gosselin, Clément M. / Type synthesis of six-DOF wrist-partitioned fully parallel manipulators. 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007. Vol. 8 PART B 2008. pp. 1195-1203
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Kong, X & Gosselin, CM 2008, Type synthesis of six-DOF wrist-partitioned fully parallel manipulators. in 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007. vol. 8 PART B, pp. 1195-1203, 31st Mechanisms and Robotics Conference - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Las Vegas, NV, United States, 4/09/07.

Type synthesis of six-DOF wrist-partitioned fully parallel manipulators. / Kong, Xianwen; Gosselin, Clément M.

2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007. Vol. 8 PART B 2008. p. 1195-1203.

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

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Kong X, Gosselin CM. Type synthesis of six-DOF wrist-partitioned fully parallel manipulators. In 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007. Vol. 8 PART B. 2008. p. 1195-1203