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 Works (1)

Year	Entry
1982	Salisbury JK, Craig JJ. Articulated hands: force control and kinematic issues. Int J Robot Res. 1982;1(1):4-17.

Cited By (17)

Year	Entry
1994	Gosselin CM, Hamel J-F. The agile eye: a high-performance three-degree-of-freedom camera-orienting device. In: Proceedings of the 1994 IEEE International Conference on Robotics and Automation. May 8-13, 1994; San Diego, CA.781-786.
1993	Gosselin CM, Lavoie E. On the kinematic design of spherical three-degree-of- freedom parallel manipulators. Int J Robot Res. August 1993;12(4):394-402.
1990	Gosselin C. Determination of the workspace of 6-DOF parallel manipulators. J Mech Des. September 1990;112(3):331-336.
1998	Bulca F. The Kinematics and Workspace Analysis of Platform Mechanisms [PhD thesis]. McGill University; 1998.
2003	Bernier G. Synthèse de manipulateurs parallèles isotropes de topologie star par algorithmes génétiques [Master's thesis]. École polytechnique de Montréal; May 2003.
2003	Brunet S. Synthèse géométrique d'un manipulateur parallèle sphérique à trois degrés de liberté [Master's thesis]. École polytechnique de Montréal; December 2003.
2017	Leroux M. Design d'un manipulateur robotique à architecture anthropomorphique [Master's thesis]. École polytechnique de Montréal; May 2017.
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.
2001	Lévesque J-F. Équilibrage statique de robots parallèles sphériques à trois degrés de liberté par éléments élastiques linéaires [Master's thesis]. Université Laval; April 2001.
2003	Kong X. Type Synthesis and Kinematics of General and Analytic Parallel Mechanisms [PhD thesis]. Université Laval; March 2003.
2003	Wu Y. Synthesis and Analysis of Reactionless Spatial Parallel Mechanisms [PhD thesis]. Université Laval; April 2003.
2004	Bouchard N. Conception d'un mécanisme à 3 degrés de liberté pour un système de palette ajustable de blocs moteurs [Master's thesis]. Université Laval; July 2004.
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.
2014	Wang M. Design and Analysis of an Adjustable Wrist Rehabilitation Robot [Master's thesis]. University of Ontario Institute of Technology; July 2014.