Advertisement

Planar Parallel Robots

  • Stefan Staicu
Chapter
Part of the Parallel Robots: Theory and Applications book series (PRTA)

Abstract

Symmetric parallel mechanisms for which the number of chains is strictly equal to the number of degrees of freedom of the end-effectors are called fully parallel manipulators. Planar parallel robots are useful for manipulating an object on a plane. A mechanism is said to be a planar robot if all the moving links in the mechanism perform planar motions. For a planar mechanism, the loci of all points in all links can be drawn conveniently on a plane. In a planar linkage, the axes of all revolute joints must be normal to the plane of motion, while the direction of translation of a prismatic joint must be parallel to the plane of motion.

References

  1. 1.
    Tsai, L.-W.: Robot Analysis: The Mechanics of Serial and Parallel Manipulators. Wiley, New York (1999)Google Scholar
  2. 2.
    Merlet, J.-P.: Parallel Robots. Kluwer Academic, Dordrecht (2000)CrossRefGoogle Scholar
  3. 3.
    Aradyfio, D.D., Qiao, D.: Kinematic simulation of novel robotic mechanisms having closed chains. In: Proceedings of ASME Mechanisms Conference, Paper 85-DET-81 (1985)Google Scholar
  4. 4.
    Gosselin, C., Angeles, J.: The optimum kinematic design of a planar three-degree-of-freedom parallel manipulator. ASME J. Mech. Transm. Automat. Des. 110(1), 35–41 (1988)CrossRefGoogle Scholar
  5. 5.
    Pennock, G.R., Kassner, D.J.: Kinematic analysis of a planar eight-bar linkage: application to a platform-type robot. In: Proceedings of ASME Mechanisms Conference, Paper DE-25, pp. 37–43 (1990)Google Scholar
  6. 6.
    Sefrioui, J., Gosselin, C.: On the quadratic nature of the singularity curves of planar three-degree-of-freedom parallel manipulators. Mech. Mach. Theory 30(4), 533–551 (1995)CrossRefGoogle Scholar
  7. 7.
    Mohammadi-Daniali, H., Zsombor-Murray, P., Angeles, J.: Singularity analysis of planar parallel manipulators. Mech. Mach. Theory 30(5), 665–678 (1995)CrossRefGoogle Scholar
  8. 8.
    Williams II, R.L., Reinholtz, C.F.: Closed-form workspace determination and optimization for parallel mechanisms. In: Proceedings of the 20th Biennial ASME Mechanisms Conference, Kissimmee, DE, vol. 5, pp. 341–351 (1988)Google Scholar
  9. 9.
    Yang, G., Chen, W., Chen, I-M.: A geometrical method for the singularity analysis of 3-RRR planar parallel robots with different actuation schemes. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, pp. 2055–2060 (2002)Google Scholar
  10. 10.
    Bonev, I., Zlatanov, D., Gosselin, C.: Singularity analysis of 3-DOF planar parallel mechanisms via screw theory. J. Mech. Des. 125(3), 573–581 (2003)CrossRefGoogle Scholar
  11. 11.
    Angeles, J.: Fundamentals of Robotic Mechanical Systems: Theory, Methods and Algorithms. Springer, New York (2002)zbMATHGoogle Scholar
  12. 12.
    Staicu, S.: Power requirement comparison in the 3-RPR planar parallel robot dynamics. Mech. Mach. Theory 44(5), 1045–1057 (2009)CrossRefGoogle Scholar
  13. 13.
    Staicu, S.: Dynamics analysis of the Star parallel manipulator. Robot. Auton. Syst. 57(11), 1057–1064 (2009)CrossRefGoogle Scholar
  14. 14.
    Wang, J., Gosselin, C.: A new approach for the dynamic analysis of parallel manipulators. Multibody Syst. Dyn. 2(3), 317–334 (1998)MathSciNetCrossRefGoogle Scholar
  15. 15.
    Cheng, G., Shan, X.: Dynamics analysis of a parallel hip-joint simulator with four degree of freedoms (3R1T). Nonlinear Dyn. 70(4), 2475–2486 (2012)MathSciNetCrossRefGoogle Scholar
  16. 16.
    Staicu, S.: Dynamics of the spherical 3-UPS/S parallel mechanism with prismatic actuators. Multibody Syst. Dyn. 22(2), 115–132 (2009)CrossRefGoogle Scholar
  17. 17.
    Li, Y., Staicu, S.: Inverse dynamics of a 3-PRC parallel kinematic machine. Nonlinear Dyn. 67(2), 1031–1041 (2012)MathSciNetCrossRefGoogle Scholar
  18. 18.
    Staicu, S., Zhang, D.: A novel dynamic modelling approach for parallel mechanisms analysis. Robot. Comput.-Integr. Manuf. 24(1), 167–172 (2008)CrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of MechanicsUniversity Politehnica of BucharestBucharestRomania

Personalised recommendations