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

Jian Meng; Guanfeng Liu; Z. Li

doi:10.1109/ROBOT.2005.1570560

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 proceeding › Conference proceeding contribution › peer-review

17 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 language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Place of Publication	New York
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	2938-2943
Number of pages	6
ISBN (Print)	9780780389144
DOIs	https://doi.org/10.1109/ROBOT.2005.1570560
Publication status	Published - 2005
Externally published	Yes
Event	IEEE International Conference on Robotics and Automation - Barcelona Duration: 18 Apr 2005 → 22 Apr 2005

Conference

Conference	IEEE International Conference on Robotics and Automation
City	Barcelona
Period	18/04/05 → 22/04/05

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10.1109/ROBOT.2005.1570560

Cite this

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title = "A geometric theory for synthesis and analysis of sub-6 DoF parallel manipulators",

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.",

author = "Jian Meng and Guanfeng Liu and Z. Li",

year = "2005",

doi = "10.1109/ROBOT.2005.1570560",

language = "English",

isbn = "9780780389144",

pages = "2938--2943",

booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

note = "IEEE International Conference on Robotics and Automation ; Conference date: 18-04-2005 Through 22-04-2005",

}

Meng, J, Liu, G & Li, Z 2005, A geometric theory for synthesis and analysis of sub-6 DoF parallel manipulators. in Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers (IEEE), New York, pp. 2938-2943, IEEE International Conference on Robotics and Automation, Barcelona, 18/04/05. https://doi.org/10.1109/ROBOT.2005.1570560

A geometric theory for synthesis and analysis of sub-6 DoF parallel manipulators. / Meng, Jian; Liu, Guanfeng; Li, Z.
Proceedings - IEEE International Conference on Robotics and Automation. New York: Institute of Electrical and Electronics Engineers (IEEE), 2005. p. 2938-2943.

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution › peer-review

TY - GEN

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AU - Liu, Guanfeng

AU - Li, Z.

PY - 2005

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N2 - 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.

AB - 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.

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DO - 10.1109/ROBOT.2005.1570560

M3 - Conference proceeding contribution

SN - 9780780389144

SP - 2938

EP - 2943

BT - Proceedings - IEEE International Conference on Robotics and Automation

PB - Institute of Electrical and Electronics Engineers (IEEE)

CY - New York

T2 - IEEE International Conference on Robotics and Automation

Y2 - 18 April 2005 through 22 April 2005

ER -

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

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