Type synthesis of six-DOF wrist-partitioned parallel manipulators

Xianwen Kong, Clément M. Gosselin

Research output: Contribution to journalArticle

Abstract

A six-DOF wrist-partitioned 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 wristpartitioned serial manipulators, which are widely used in industry. Unlike parallel manipulators of a general structure, a six-DOF wrist-partitioned 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 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 parallel manipulators can be constructed from the types of three-DOF nonoverconstrained spherical parallel manipulators. A large number of six-DOF wristpartitioned parallel manipulators are then obtained, and several types of practical relevance are also identified. Copyright © 2008 by ASME.

Original languageEnglish
Pages (from-to)623021-623028
Number of pages8
JournalJournal of Mechanical Design, Transactions of the ASME
Volume130
Issue number6
DOIs
Publication statusPublished - Jun 2008

Fingerprint

Manipulators
Kinematics

Keywords

  • Parallel mechanism
  • Type synthesis
  • Wrist-partioned manipulator

Cite this

@article{92e8b6cc924f4c0b93c8c2189c2c1634,
title = "Type synthesis of six-DOF wrist-partitioned parallel manipulators",
abstract = "A six-DOF wrist-partitioned 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 wristpartitioned serial manipulators, which are widely used in industry. Unlike parallel manipulators of a general structure, a six-DOF wrist-partitioned 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 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 parallel manipulators can be constructed from the types of three-DOF nonoverconstrained spherical parallel manipulators. A large number of six-DOF wristpartitioned parallel manipulators are then obtained, and several types of practical relevance are also identified. Copyright {\circledC} 2008 by ASME.",
keywords = "Parallel mechanism, Type synthesis, Wrist-partioned manipulator",
author = "Xianwen Kong and Gosselin, {Cl{\'e}ment M.}",
year = "2008",
month = "6",
doi = "10.1115/1.2900717",
language = "English",
volume = "130",
pages = "623021--623028",
journal = "Journal of Mechanical Design, Transactions of the ASME",
issn = "1050-0472",
publisher = "American Society of Mechanical Engineers",
number = "6",

}

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

In: Journal of Mechanical Design, Transactions of the ASME, Vol. 130, No. 6, 06.2008, p. 623021-623028.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Type synthesis of six-DOF wrist-partitioned parallel manipulators

AU - Kong, Xianwen

AU - Gosselin, Clément M.

PY - 2008/6

Y1 - 2008/6

N2 - A six-DOF wrist-partitioned 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 wristpartitioned serial manipulators, which are widely used in industry. Unlike parallel manipulators of a general structure, a six-DOF wrist-partitioned 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 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 parallel manipulators can be constructed from the types of three-DOF nonoverconstrained spherical parallel manipulators. A large number of six-DOF wristpartitioned parallel manipulators are then obtained, and several types of practical relevance are also identified. Copyright © 2008 by ASME.

AB - A six-DOF wrist-partitioned 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 wristpartitioned serial manipulators, which are widely used in industry. Unlike parallel manipulators of a general structure, a six-DOF wrist-partitioned 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 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 parallel manipulators can be constructed from the types of three-DOF nonoverconstrained spherical parallel manipulators. A large number of six-DOF wristpartitioned parallel manipulators are then obtained, and several types of practical relevance are also identified. Copyright © 2008 by ASME.

KW - Parallel mechanism

KW - Type synthesis

KW - Wrist-partioned manipulator

UR - http://www.scopus.com/inward/record.url?scp=77955199964&partnerID=8YFLogxK

U2 - 10.1115/1.2900717

DO - 10.1115/1.2900717

M3 - Article

VL - 130

SP - 623021

EP - 623028

JO - Journal of Mechanical Design, Transactions of the ASME

JF - Journal of Mechanical Design, Transactions of the ASME

SN - 1050-0472

IS - 6

ER -