Trajectory Planning for Constrained Parallel Manipulators
This paper presents an algorithm for generating trajectories for multi-degree of freedom spatial linkages, termed constrained parallel manipulators. These articulated systems are formed by supporting a workpiece, or end-effector, with a set of serial chains, each of which imposes a constraint on the...
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| Veröffentlicht in: | Journal of mechanical design (1990) 2003-12, Vol.125 (4), p.709-716 |
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| container_title | Journal of mechanical design (1990) |
| container_volume | 125 |
| creator | Su, Hai-Jun Dietmaier, Peter McCarthy, J. Michael |
| description | This paper presents an algorithm for generating trajectories for multi-degree of freedom spatial linkages, termed constrained parallel manipulators. These articulated systems are formed by supporting a workpiece, or end-effector, with a set of serial chains, each of which imposes a constraint on the end-effector. Our goal is to plan trajectories for systems that have workspaces ranging from two through five degrees-of-freedom. This is done by specifying a goal trajectory and finding the system trajectory that comes closest to it using a dual quaternion metric. We enumerate these parallel mechanisms and formulate a general numerical approach for their analysis and trajectory planning. Examples are provided to illustrate the results. |
| doi_str_mv | 10.1115/1.1623187 |
| format | Article |
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Michael</creator><creatorcontrib>Su, Hai-Jun ; Dietmaier, Peter ; McCarthy, J. Michael</creatorcontrib><description>This paper presents an algorithm for generating trajectories for multi-degree of freedom spatial linkages, termed constrained parallel manipulators. These articulated systems are formed by supporting a workpiece, or end-effector, with a set of serial chains, each of which imposes a constraint on the end-effector. Our goal is to plan trajectories for systems that have workspaces ranging from two through five degrees-of-freedom. This is done by specifying a goal trajectory and finding the system trajectory that comes closest to it using a dual quaternion metric. We enumerate these parallel mechanisms and formulate a general numerical approach for their analysis and trajectory planning. 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Michael</creatorcontrib><title>Trajectory Planning for Constrained Parallel Manipulators</title><title>Journal of mechanical design (1990)</title><addtitle>J. Mech. Des</addtitle><description>This paper presents an algorithm for generating trajectories for multi-degree of freedom spatial linkages, termed constrained parallel manipulators. These articulated systems are formed by supporting a workpiece, or end-effector, with a set of serial chains, each of which imposes a constraint on the end-effector. Our goal is to plan trajectories for systems that have workspaces ranging from two through five degrees-of-freedom. This is done by specifying a goal trajectory and finding the system trajectory that comes closest to it using a dual quaternion metric. We enumerate these parallel mechanisms and formulate a general numerical approach for their analysis and trajectory planning. 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| identifier | ISSN: 1050-0472 |
| ispartof | Journal of mechanical design (1990), 2003-12, Vol.125 (4), p.709-716 |
| issn | 1050-0472 1528-9001 |
| language | eng |
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| source | ASME Transactions Journals (Current) |
| subjects | Applied sciences Drives Exact sciences and technology Linkage mechanisms, cams Mechanical engineering. Machine design |
| title | Trajectory Planning for Constrained Parallel Manipulators |
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