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Generalized Jacobian Analysis of Parallel Manipulators With Multiple End-Effectors

[+] Author Affiliations
Antonius G. L. Hoevenaars, Patrice Lambert, Just L. Herder

Delft University of Technology, Delft, The Netherlands

Paper No. DETC2014-35675, pp. V05AT08A081; 7 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 38th Mechanisms and Robotics Conference
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4636-0
  • Copyright © 2014 by ASME


This paper presents a methodology for the Jacobian analysis of parallel manipulators with multiple end-effectors (PMxE). The end-effector velocity state of a PMxE is described by one twist of a principal end-effector with respect to the base and a set of relative twists of the remaining end-effectors with respect to the principal end-effector The twist of each terminal link with respect to the principal end-effector is then expressed as a linear function of the relative twists, which enables an extension of the generalized Jacobian analysis to PMxE. The presented methodology is detailed for parallel manipulators with two end-effectors, where a planar 6-RRR manipulator with a 2-RRR internal closed-loop is used as an example.

Copyright © 2014 by ASME



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