The synthesis of planar parallel manipulators with prismatic joints for an optimal, singularity-free workspace

DOI10.1002/ROB.8118MaRDI QIDQ4331430zbMATHOpenAlexFDO

Authors Marise Gallant, Roger Boudreau

Publication date 7 April 2003

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.8118

zbMATH Keywords

singularitygenetic algorithmprismatic jointsplanar parallel manipulatorsconstant orientation workspacerevolute-prismatic-revolute manipulatorworkspace optimization

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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Cited in

(7)

• Solution space atlases, workspace characteristics charts and joint space maps for the design of planar serial manipulators
• A sequential method for the singularity-free workspace design of a three legged parallel robot
• Real solutions of the direct geometrico-static problem of under-constrained cable-driven parallel robots with 3 cables: a numerical investigation
• Contribution to the optimization of closed-loop multibody systems: Application to parallel manipulators
• The Synthesis of Three-Degree-of-Freedom Planar Parallel Mechanisms with Revolute Joints (3-RRR) for an Optimal Singularity-Free Workspace
• A simplified approach for obtaining the workspace of a class of 2-dof planar parallel manipulators.
• Determination of the kinematically redundant active prismatic joint variable ranges of a planar parallel mechanism for singularity-free trajectories

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