A unified approach to solving driving forces in spatial parallel manipulators with less than six DOFs is proposed. First, the geometric constrained equations of the parallel manipulators are derived, and some independent pose parameters and a common transformation matrix with three translations and three Euler rotations are determined. Second, the common formulas for solving inverse kinematics, the Jacobian matrix, and velocity are derived. Third, a common virtual serial mechanism with three virtual prismatic joints and three virtual revolute joints corresponding to three Euler rotations is constructed. Fourth, a common analytic formula for solving driving forces in spatial parallel manipulators with less than six DOFs is derived by using the principle of virtual work and the virtual serial mechanism. Finally, a 3-SPR parallel manipulator with three DOFs and a 4SPS+SPR parallel manipulator with five DOFs are presented to illustrate the use of the unified approach to solve their inverse kinematics and the driving forces. The solving results are verified by the simulation mechanisms.
Skip Nav Destination
e-mail: luyi@ysu.edu.cn
Article navigation
November 2007
Research Papers
A Unified Approach to Solving Driving Forces in Spatial Parallel Manipulators With Less Than Six DOFs
Yi Lu,
Yi Lu
School of Mechanical Engineering,
e-mail: luyi@ysu.edu.cn
Yanshan University
, Qinhuangdao, Hebei 066004 China
Search for other works by this author on:
Bo Hu
Bo Hu
School of Mechanical Engineering,
Yanshan University
, Qinhuangdao, Hebei 066004 China
Search for other works by this author on:
Yi Lu
School of Mechanical Engineering,
Yanshan University
, Qinhuangdao, Hebei 066004 Chinae-mail: luyi@ysu.edu.cn
Bo Hu
School of Mechanical Engineering,
Yanshan University
, Qinhuangdao, Hebei 066004 ChinaJ. Mech. Des. Nov 2007, 129(11): 1153-1160 (8 pages)
Published Online: November 3, 2006
Article history
Received:
March 22, 2006
Revised:
November 3, 2006
Citation
Lu, Y., and Hu, B. (November 3, 2006). "A Unified Approach to Solving Driving Forces in Spatial Parallel Manipulators With Less Than Six DOFs." ASME. J. Mech. Des. November 2007; 129(11): 1153–1160. https://doi.org/10.1115/1.2771237
Download citation file:
Get Email Alerts
Cited By
Related Articles
Determination of Singularity-Free Zones in the Workspace of Planar 3 - P ̱ RR Parallel Mechanisms
J. Mech. Des (June,2007)
The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture
J. Mech. Des (June,2003)
Singularity Analysis of Large Workspace 3RRRS Parallel Mechanism Using Line Geometry and Linear Complex Approximation
J. Mechanisms Robotics (February,2011)
A Novel Approach in the Direct Kinematics of Stewart Platform Mechanisms with Planar Platforms
J. Mech. Des (January,2006)
Related Proceedings Papers
Related Chapters
Feedback-Aided Minimum Joint Motion
Robot Manipulator Redundancy Resolution
Pseudoinverse Method and Singularities Discussed
Robot Manipulator Redundancy Resolution
Manipulability-Maximizing SMP Scheme
Robot Manipulator Redundancy Resolution