Skip to main content
SpringerLink
Log in

On the Isotropic Design of General Six-Degree-of-Freedom Parallel Manipulators

  • Conference paper
Computational Kinematics ’95

Part of the book series: Solid Mechanics and Its Applications ((SMIA,volume 40))

Abstract

Dexterity is considered as an important factor in the design of all robotic manipulators, whether serial or parallel. If the focus is on kinematics, rather than dynamics, one can quantify this factor using the condition number of the Jacobian matrix. In this paper, we study the optimum kinematic design of general six-degree-of-freedom (6-DOF) parallel manipulators, through the minimization of the condition number of their Jacobian matrices. Moreover, an isotropic architecture is shown to exist and an example of the isotropic design is included for illustration.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  • Angeles, J., Ranjbaran, F., and Patel, R.V.(1992) On the Design of the Kinematic Structure of Seven-Axes RedundantManipulators for Maximum Conditioning, Proc.IEEE Int. Conf.on Robotics and Automation,Nice, Vol. 1, pp. 494–499.

    Google Scholar 

  • Eddie Baker, J. (1980) An Analysis ofthe Bricard Linkages, Mech. Mach. Theory,Vol. 15, pp. 267–286.

    Article  Google Scholar 

  • Golub, G.H., and Van Loan, C.F. (1990) MatrixComputations.The Johns Hopkins Univ. Press, Baltimore.

    Google Scholar 

  • Gosselin, C., and Angeles, J. (1988) TheOptimum Design of a Planar Three-Degree-of-Freedom Parallel Manipulator, ASME J.Mech., Trans., Auto, in Design,Vol. 110, pp. 35–41.

    Article  Google Scholar 

  • Gosselin, C., and Angeles, J. (1990)Singularity Analysis of Closed-Loop Kinematic Chains, IEEE J. RoboticsAutomat.,Vol. 6 no. 3, pp. 281–290.

    Google Scholar 

  • Gosselin, C., and Angeles, J. (1991) AGlobal Performance Index for the Kinematic Optimization of Robotic Manipulators, ASMEJ. Mech. Design,Vol. 113, pp. 220– 226.

    Article  Google Scholar 

  • Gosselin, C., and Lavoie, E. (1993) Onthe Kinematic Design of Spherical Three-Degree-of-Freedom Parallel Manipulators, theInt. J. Robotics Res.,Vol. 12 no. 4, pp. 394– 402.

    Article  Google Scholar 

  • Gupta, K.C., and Roth, B. (1982) DesignConsiderations for Manipulator Workspace, ASME J. Mech. Design,Vol. 104 no. 4, pp.704–712.

    Article  Google Scholar 

  • Innocenti, C., and Parenti-Castelli, V.(1993) Forward Kinematics of the General 6–6 Fully ParallelMechanism: An Exhaustive Numerical Approach Via a Mono-Dimensional-SearchAlgorithm, ASME J. Mech. Design,Vol. 115, pp. 932–937.

    Article  Google Scholar 

  • Klein, C., and Blaho, B. (1987)Dexterity Measures for the Design and Control of Kine-maticallyRedundant Manipulators, the Int. J. Robotics Res.,Vol. 6 no. 2,pp. 72–83.

    Article  Google Scholar 

  • Kobayashi, H. (1985) Control andGeometrical Considerations for an Articulated Robot Hand, the Int.J. Robotics Res.,Vol. 4 no. 1, pp. 3–12.

    Article  Google Scholar 

  • Mohammadi Daniali, H.R., andZsombor-Murray, P.J. (1994) The Design of Isotropic Planar ParallelManipulators, Proc. 1st World Automation Congress, Maui, Vol. 2, pp. 273–280.

    Google Scholar 

  • Park, F.C., and Brockett, R.W. (1994)Kinematic Dexterity of Robotic Mechanisms, the Int. J. RoboticsRes.,Vol.13 no.1, pp. 1–15.

    Article  Google Scholar 

  • Paul, R.P., and Stevenson, C.N. (1983)Kinematics of Robot Wrists, the Int. J. Robotics Res.,Vol. 2 no. 1, pp.31–38.

    Article  Google Scholar 

  • Pitten, K.H., and Podhorodeski, R.P.(1993) A Family of Stewart Platforms with Optimal Dexterity, J. Robotic Sys.,Vol.10 no. 4, pp. 463–479.

    Article  Google Scholar 

  • Salisbury, J.K., and Craig, J.J. (1982)Articulated Hands: Force Control and Kinematic Issues, the Int. J. RoboticsRes.,Vol. 1 no. 1, pp. 4–12.

    Article  Google Scholar 

  • Vijaykumar, R., Tsai, M.J., and Waldron,K.J. (1986) Geometric Optimization of Manipulator Structures for Working Volumeand Dexterity, the Int. J. Robotics Res.,Vol. 5 no. 2, pp.99–111.

    Google Scholar 

  • Yoshikawa, T. (1985a) DynamicManipulability of Robot Manipulators, J. Robotic Sys.,Vol. 2 no. 1, pp.113–124.

    Google Scholar 

  • Yoshikawa, T. (1985b) Manipulability ofRobotic Mechanisms, the Int. J. Robotics Res.,Vol. 4 no. 2, pp. 3–9.

    Article  MathSciNet  Google Scholar 

  • Zanganeh, K.E., and Angeles, J. (1994)Instantaneous Kinematics of Modular Parallel Manipulators, Proc. ASME 23rd Mechanisms Conference, Minneapolis, DE-Vol. 72, pp. 271–277.

    Google Scholar 

  • Zanganeh, K. E., and Angeles, J. (1995)Kinematic Isotropy and the Optimum Design of Parallel Manipulators, Centre forIntelligent Machines and Department of Mechanical EngineeringTechnical Report,McGill University, Montreal.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. McGill Centre for Intelligent Machines & Department of Mechanical Engineering, McGill University, 817 Sherbrooke Street West, Montreal, Canada, H3A 2K6

    K. E. Zanganeh & J. Angeles

Authors
  1. K. E. Zanganeh
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. J. Angeles
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Institut National de Recherche en Informatique et en Automatique, Sophia Antipolis, France

    Jean-Pierre Merlet

  2. Department of Mechanical Engineering, University of California, Davis, California, USA

    Bahram Ravani

Rights and permissions

Reprints and permissions

Copyright information

© 1995 Springer Science+Business Media Dordrecht

About this paper

Cite this paper

Zanganeh, K.E., Angeles, J. (1995). On the Isotropic Design of General Six-Degree-of-Freedom Parallel Manipulators. In: Merlet, JP., Ravani, B. (eds) Computational Kinematics ’95. Solid Mechanics and Its Applications, vol 40. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-0333-6_22

Download citation

  • DOI: https://doi.org/10.1007/978-94-011-0333-6_22

  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-010-4147-8

  • Online ISBN: 978-94-011-0333-6

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation