A geometric theory for synthesis and analysis of sub-6 DoF parallel manipulators

Jian Meng, Guanfeng Liu, Z. Li

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contributionpeer-review

10 Citations (Scopus)

Abstract

This paper presents a rigorous and precise geometric theory for the analysis and synthesis of sub-6 DoF parallel manipulators. We give a rigorous definition for the parallel manipulator synthesis problem, and introduce a general method for specifying the corresponding subchains which will result in the desired parallel manipulator. Following this, a procedure for solving the parallel manipulator synthesis problem is proposed when the set of desired end-effector motions is in the form of Lie subgroup or a regular submanifold of SE(3). Numerous examples are used to illustrate the generality and effectiveness of the proposed synthesis method.
Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Place of PublicationNew York
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages2938-2943
Number of pages6
ISBN (Print)9780780389144
DOIs
Publication statusPublished - 2005
Externally publishedYes
EventIEEE International Conference on Robotics and Automation - Barcelona
Duration: 18 Apr 200522 Apr 2005

Conference

ConferenceIEEE International Conference on Robotics and Automation
CityBarcelona
Period18/04/0522/04/05

Fingerprint Dive into the research topics of 'A geometric theory for synthesis and analysis of sub-6 DoF parallel manipulators'. Together they form a unique fingerprint.

Cite this