Mobility of Spatial Parallel Manipulators

Mobility of Spatial Parallel Manipulators

by Jing-Shan Zhao Fulei Chu

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This chapter focuses on the mobility analysis and synthesis of spatial parallel manipulators. It focuses on developing an analytical methodology to investigate the instantaneous DOF of the end-effector of a parallel manipulator and the instantaneous controllability of the endeffector from the viewpoint of the possible actuation schemes for the parallel manipulator. Via comparing the differences and essential mobility of a set of underactuated, over actuated and equally actuated manipulators, th…

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Title Statements

  • Full title :Mobility of Spatial Parallel Manipulators.

Summary

This chapter focuses on the mobility analysis and synthesis of spatial parallel manipulators. It focuses on developing an analytical methodology to investigate the instantaneous DOF of the end-effector of a parallel manipulator and the instantaneous controllability of the endeffector from the viewpoint of the possible actuation schemes for the parallel manipulator. Via comparing the differences and essential mobility of a set of underactuated, over actuated and equally actuated manipulators, this chapter demonstrates that the underactuated, over actuated and fully actuated manipulators are all substantially equally actuated mechanisms. This work is significantly important for a designer to contrive his or her manipulators with underactuated or over actuated structures. Based on the analytical model of the DOF of a spatial parallel manipulator, this chapter also investigates a general process to synthesize the manipulators with specified mobility. The outstanding characteristics of the synthesis method are that the whole process is also analytical and each step can be programmed at a computer. Because of the restrictions of the traditional general mobility formulas for spatial mechanisms, a lot of mechanisms that might not be synthesized directly with the general mobility formulas could be synthesized with this analytical theory of degrees of freedom for spatial mechanisms.

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Edition Statements

  • Publication Date:2008.

Publication Statements

The Physical Object

  • Description:1 online resource

Edition Identifiers

  • ISBN:9783902613400, 3902613408
  • oclc:ocn884022631

Subjects

Open Access Collection

Writers

Jing-Shan Zhao Fulei Chu Zhi-Jing Feng

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