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Selecting Kinematic Structures of Parallel Manipulators Using Symmetry and Connectivity

[+] Author Affiliations
Roberto Simoni, Henrique Simas, Daniel Martins

Federal University of Santa Catarina, Santa Catarina, Brazil

Paper No. DETC2015-46019, pp. V05CT08A031; 8 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5C: 39th Mechanisms and Robotics Conference
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5714-4
  • Copyright © 2015 by ASME


This paper presents an application of symmetry and connectivity to select kinematic structures of parallel manipulators. One kinematic chain can originate several mechanisms and each mechanism can originate several parallel manipulators and, in early stages of conceptual design, it is difficult to decide what is the most promising one. Hunt [1] introduced the concept of connectivity and, since then, the connectivity has been used as an important parameter to select the most appropriated parallel manipulators to develop determined task. However, it is difficult to analyze non isomorphic parallel manipulators from the connectivity matrix. In this sense, in this paper, we apply symmetry to reduce the set of parallel manipulators to a manageable few with the desired connectivity. As a result, all promising parallel manipulators originating from a kinematic chain can be analyzed without isomorphisms.

Copyright © 2015 by ASME



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