A six-DOF wrist-partitioned parallel manipulator is a parallel manipulator in which three of the six actuated joints are used to control the position of a point on the moving platform while the other three are further used to control the orientation of the moving platform. Such parallel manipulators are, in fact, the parallel counterparts of the wrist-partitioned serial manipulators, which are widely used in industry. Unlike parallel manipulators of a general structure, a six-DOF wrist-partitioned parallel manipulator usually has simple kinematic characteristics such as its forward displacement analysis and singularity analysis are easy to solve. This paper deals with the type synthesis of six-DOF wrist-partitioned parallel manipulators. An approach is first proposed for the type synthesis of this class of parallel manipulators. Using the proposed approach, six-DOF wrist-partitioned parallel manipulators can be constructed from the types of three-DOF nonoverconstrained spherical parallel manipulators. A large number of six-DOF wrist-partitioned parallel manipulators are then obtained, and several types of practical relevance are also identified.
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e-mail: x.kong@hw.ac.uk
e-mail: gosselin@gmc.ulaval.ca
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June 2008
Research Papers
Type Synthesis of Six-DOF Wrist-Partitioned Parallel Manipulators
Xianwen Kong,
Xianwen Kong
Department of Mechanical Engineering, School of Engineering and Physical Sciences,
e-mail: x.kong@hw.ac.uk
Heriot-Watt University
, Edinburgh EH14 4AS, United Kingdom
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Clément M. Gosselin
Clément M. Gosselin
Département de Génie Mécanique,
e-mail: gosselin@gmc.ulaval.ca
Université Laval
, Pavillon Adrien-Pouliot, 1065 Avenue de la médecine, Québec, Québec, G1V 0A6, Canada
Search for other works by this author on:
Xianwen Kong
Department of Mechanical Engineering, School of Engineering and Physical Sciences,
Heriot-Watt University
, Edinburgh EH14 4AS, United Kingdome-mail: x.kong@hw.ac.uk
Clément M. Gosselin
Département de Génie Mécanique,
Université Laval
, Pavillon Adrien-Pouliot, 1065 Avenue de la médecine, Québec, Québec, G1V 0A6, Canadae-mail: gosselin@gmc.ulaval.ca
J. Mech. Des. Jun 2008, 130(6): 062302 (8 pages)
Published Online: April 14, 2008
Article history
Received:
May 28, 2007
Revised:
October 12, 2007
Published:
April 14, 2008
Citation
Kong, X., and Gosselin, C. M. (April 14, 2008). "Type Synthesis of Six-DOF Wrist-Partitioned Parallel Manipulators." ASME. J. Mech. Des. June 2008; 130(6): 062302. https://doi.org/10.1115/1.2900717
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