Evolutionary algorithms in theory and practice: evolution strategies, evolutionary programming, genetic algorithms
Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms
Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms
Parallel Robots
The optimum design of 6-DOF isotropic parallel manipulators
Journal of Robotic Systems
Fully Isotropic Four-Degrees-of-Freedom Parallel Mechanisms for Schoenflies Motion
International Journal of Robotics Research
Geometrical conditions for the design of partial or full isotropic hexapods
Journal of Robotic Systems
The kinematic design of spatial, hybrid closed chains including planar parallelograms
Robotics and Computer-Integrated Manufacturing
| Hi-index | 0.00 |
The paper presents structural synthesis of maximally regular T3R2-type parallel robotic manipulators (PMs) with five degrees of freedom. The moving platform has three independent translations (T3) and two rotations (R2). A method is proposed for structural synthesis of maximally regular T3R2-type PMs based on the theory of linear transformations and evolutionary morphology. A one-to-one correspondence exists between the actuated joint velocity space and the external velocity space of the moving platform. The Jacobian matrix mapping the two vector spaces of maximally regular T3R2-type PMs presented in this paper is the 5×5 identity matrix throughout the entire workspace. The condition number and the determinant of the Jacobian matrix being equal to one, the manipulator performs very well with regard to force and motion transmission capabilities. Kinematic analysis of maximally regular parallel robots is trivial and no computation is required for real-time control. This paper presents in a unified approach the structural synthesis of PMs with five degrees of freedom with decoupled and uncoupled motions, along with the maximally regular solutions.