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An Interactive Approach to Designing Planar Parallel Manipulators Using Image Space Representation

[+] Author Affiliations
Anurag Purwar, Sagar Anantwar, Ping Zhao

Stony Brook University, Stony Brook, NY

Paper No. DETC2012-70880, pp. 589-604; 16 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME


Structure equations of mechanisms are well-known to give rise to algebraic constraint manifolds that describe the space of poses available to a certain link (usually, end-effector or coupler) of open chains or mechanisms. In this paper, by using planar quaternion representation for planar displacements, we obtain constraint manifold of such manipulators and show that the task of dimensional synthesis of a planar parallel manipulator (PPM) is reduced to simple geometric manipulation of the manifold in the Image Space. Earlier, this approach has been shown to work for planar 6R closed chain mechanisms as well as for RRR- and RPR-type leg topologies of a PPM. Here, we complete the extension to other five leg topologies and provide a developer version software tool for dimensional synthesis of a PPM.

Copyright © 2012 by ASME
Topics: Design , Manipulators



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