2002 · 24 citations · 10 references
EngineeringMechanical EngineeringRobotics EngineeringMechanical DesignRobot KinematicsRoboticsDifferential KinematicsForward KinematicsKinematic ConstraintsKinematic ModelingKinematicsParallel Robot KinematicsKinematic Constraint AnalysisParallel Manipulator ConstraintsParallel MechanismsParallel Robot MechanismsRobot Path PlanningScrew Theory
This paper presents a simple method based on the screw theory for determination of the possible motion characteristics and the position of rotational axes when the linear displacements are constrained for multi-degree of freedom (2-5 DOF) parallel mechanisms. The theory is significant for understanding novel constrained multi-DOF mechanisms, their kinematics and robot path planning. The paper also reports the analysis results for several three DOF platform and pyramid parallel mechanisms.
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