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An Approach for Acceleration Analysis of Lower Mobility Parallel Manipulator

[+] Author Affiliations
Haitao Liu, Tian Huang

Tianjin University, Tianjin, China

Derek G. Chetwynd

The University of Warwick, Coventry, UK

Paper No. DETC2010-28020, pp. 723-732; 10 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


This paper presents an approach for velocity and acceleration analyses of lower mobility parallel manipulators. Based on the definition of the acceleration motor, the forward/inverse velocity and acceleration equations are formulated with the goal to integrate the relevant analyses under a unified framework based on the generalized Jacobian. A new Hessian matrix of serial kinematic chains (or limb) is developed in an explicit and compact form using Lie bracket. This idea is then extended to cover parallel manipulators by considering the loop closure constraints. A 3-P RS parallel manipulator with coupled translational and rotational moving capabilities is taken as example to illustrate the generality and effectiveness of this approach.

Copyright © 2010 by ASME
Topics: Manipulators



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