The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator

Gosselin, C.; Angeles, J.

Affiliations

¹Department of Mechanical Engineering and Robotic Mechanical Systems Laboratory, McGill Research Centre for Intelligent Machines, McGill University, Montreal, Quebec, Canad

Abstract

In this paper, the design of a spherical three-degree-of-freedom parallel manipulator is considered from a kinematic viewpoint. Three different design criteria are established and used to produce designs having optimum characteristics. These criteria are (a) symmetry (b) workspace maximization, and (c) isotropy. The associated problems are formulated and their solutions, one of them requiring to resort to a numerical method, are provided. Optimum designs are thereby obtained. A discussion on singularities is also included.

Links

DOI: 10.1115/1.3258984

WoS: A1989CU85500005

History

Received: 1987-03

Cited By (7)

Year	Entry
1990	Gosselin C. Determination of the workspace of 6-DOF parallel manipulators. J Mech Des. September 1990;112(3):331-336.
2013	Lambert P. Parallel Robots With Configurable Platforms [PhD thesis]. Delft University of Technology; 2013.
1997	Pouliot N. Analyse, optimisation et conception de mécanismes de simulation de mouvement à trois degrés de liberté [Master's thesis]. Université Laval; August 1997.
2003	Kong X. Type Synthesis and Kinematics of General and Analytic Parallel Mechanisms [PhD thesis]. Université Laval; March 2003.
2008	Gallant M. Étude de l'effet du jeu aux articulations passives et de la flexibilité des membrures sur les propriétés des manipulateurs parallèles [PhD thesis]. Université Laval; 2008.
2019	Schreiber LT. La redondance cinématique dans les robots parallèles pour l'augmentation de l'espace de travail en orientation [PhD thesis]. Université Laval; 2019.
2011	Gallant A. Détermination De L'espace Dextre Des Manipulateurs Parallèles Plans Avec Redondance Cinématique [in French] [PhD thesis]. University of Moncton; May 2011.