Kinematic and dynamic properties of parallel manipulators
The design of robotic manipulators must lead to the possibility to reach a desired spatial position, ensuring as well as high manipulability. Here, the authors deal with parallel mechanisms the manipulability of which can be described by several measures, each having different sensitivity to singular configurations of the structure. A three-parameter representation of rotation group \(\text{SO}(3)\) is replaced by a four-parametric description to avoid mathematical singularities, kinematic relations are introduced and applied, manipulator singularities are classified, and the behaviour of introduced manipulability measures is analyzed. As examples, the authors consider the classical hexapod structure and a triplanar robot, and investigate their workspace, manipulability and elastic stiffness.
- Kinematics analysis of a novel parallel manipulator
- Kinematics of a parallel-serial (Hybrid) manipulator
- scientific article; zbMATH DE number 1304543
- Manipulability and static stability of parallel manipulators
- Modular and recursive kinematics and dynamics for parallel manipulators
- Dynamics of Parallel Robots
- A new approach for the dynamic analysis of parallel manipulators
- Dynamic analysis and determination of the joint characteristics of parallel‐drive robot manipulators
- Kinematics and Dynamics of a Master Maipulator
- Inverse dynamics of a parallel manipulator
- Kinematics analysis of a novel parallel manipulator
- Kinematic analysis of a general double-tripod parallel manipulator.
- Singularity and controllability analysis of parallel manipulators and closed-loop mechanisms.
- Some guidelines for the kinematic design of new manipulators
- Vision/force control of parallel robots
- Classification of manipulators of the same origin by virtue of compactness and complexity
- Manipulability and static stability of parallel manipulators
- Kinematics and dynamics of a 6 degree-of-freedom fully parallel manipulator with elastic joints.
- Global kinetostatic modelling of tripod-based parallel kinematic machine
- Kinematic analysis and singular configurations of a class of parallel robots
- A generalised quaternion and Clifford algebra based mathematical methodology to effect multi-stage reassembling transformations in parallel robots
- A geometric algebra based higher dimensional approximation method for statics and kinematics of robotic manipulators
- Optimal design and singularity analysis of a spatial parallel manipulator
- Force/position control of parallel robots using exteroceptive pose measurements
- Modular and recursive kinematics and dynamics for parallel manipulators
- An exhaustive study of the workspace topologies of all 3R orthogonal manipulators with geometric simplifications
- Dynamics of a six degrees-of-freedom parallel robot actuated by three two-wheel carts
- Determination of the stiffness of rolling kinematic pairs of manipulators
- Minimal realizations of spatial stiffnesses with parallel or serial mechanisms having concurrent axes
- Force Transmissibility Performance of Parallel Manipulators
- Kinematic analysis of a compliant, parallel and three-dimensional meso-manipulator generated from a planar structure
- Hypersurfaces of special configurations of serial manipulators and related concepts. part III: Measures for the position and orientation space of 6 dof manipulators
- Kinematics of a parallel-serial (Hybrid) manipulator
- scientific article; zbMATH DE number 1487449 (Why is no real title available?)
- scientific article; zbMATH DE number 1517146 (Why is no real title available?)
- Computed torque control of redundant manipulators using general-purpose software in real-time
- Simulation and computer‐aided kinematic design of three‐degree‐of‐freedom spherical parallel manipulators
- scientific article; zbMATH DE number 832056 (Why is no real title available?)
- Computational kinematics for robotic manipulators: instantaneous motion pattern
- Preface: Recent progress and novel applications of parallel mechanisms
- Dynamics of Parallel Robots
- Singular planes of serial wrist-partitioned manipulators and their singularity metrics
- Topology of serial and parallel manipulators and topological diagrams
- The ``point of isotropy and other properties of serial and parallel manipulators
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