Abstract
Topology of a robotic mechanism [1], describing the arrangement of joints including number, sequence, type, and axis (or direction), denotes the basic mechanical structure of the robotic mechanism [2]. Topology determines motion capability thus directly affects the kinematic, stiffness, and dynamic performance of the robotic mechanism [3,4,5].
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Sun T, Song YM, Gao H et al (2015) Topology synthesis of a 1-translational and 3-rotational parallel manipulator with an articulated traveling plate. J Mech Robot Trans ASME 7(3):031015(9 pages)
Huang Z, Li QC (2002) General methodology for type synthesis of symmetrical lower-mobility parallel manipulators and several novel manipulators. Int J Robot Res 21(2):131–145
Gosselin CM (2002) Stiffness mapping for parallel manipulators. IEEE Trans Robot Autom 6(3):377–382
Merlet JP (1993) Direct kinematics of parallel manipulators. IEEE Trans Robot Autom 9(6):842–846
Gallardo J, Rico JM, Frisoli A et al (2003) Dynamics of parallel manipulators by means of screw theory. Mech Mach Theory 38(11):1113–1131
Qi Y, Sun T, Song YM et al (2015) Topology synthesis of three-legged spherical parallel manipulators employing Lie group theory. Proc Inst Mech Eng Part C J Mech Eng Sci 229(10):1873–1886
Yang SF, Sun T, Huang T et al (2016) A finite screw approach to type synthesis of three-DOF translational parallel mechanisms. Mech Mach Theory 104:405–419
Yang SF, Sun T, Huang T et al (2017) Type synthesis of parallel mechanisms having 3T1R motion with variable rotational axis. Mech Mach Theory 109:220–230
Sun T, Huo XM (2018) Type synthesis of 1T2R parallel mechanisms with parasitic motions. Mech Mach Theory 128:412–428
Sun T, Song YM, Li YG et al (2010) Workspace decomposition based dimensional synthesis of a novel hybrid reconfigurable robot. J Mech Robot Trans ASME 2(3):031009(8 pages)
Sun T, Song YM, Dong G et al (2012) Optimal design of a parallel mechanism with three rotational degrees of freedom. Robot Comput Integr Manuf 28(4):500–508
Lian BB, Sun T, Song YM et al (2015) Stiffness analysis and experiment of a novel 5-DoF parallel kinematic machine considering gravitational effects. Int J Mach Tools Manuf 95:82–96
Sun T, Liang D, Song YM Singular-perturbation-based nonlinear hybrid control of redundant parallel robot. IEEE Trans Ind Electron 65(4):3326–3336
Sun T, Lian BB, Song YM et al (2019) Elasto-dynamic optimization of a 5-DoF parallel kinematic machine considering parameter uncertainty. IEEE-ASME Trans Mechatron 24(1):315–325
Sun T, Yang SF, Huang T et al (2017) A way of relating instantaneous and finite screws based on the screw triangle product. Mech Mach Theory 108:75–82
Sun T, Yang SF, Huang T et al (2018) A finite and instantaneous screw based approach for topology design and kinematic analysis of 5-axis parallel kinematic machines. Chin J Mech Eng 31(2):66–75
Sun T, Yang SF (2019) An approach to formulate the Hessian matrix for dynamic control of parallel robots. IEEE-ASME Trans Mechatron 24(1):271–281
Kong XW, Gosselin CM (2007) Type synthesis of parallel mechanisms. Springer, Berlin, Heidelberg
Hunt KH (1978) Kinematic geometry of mechanisms. Clarendon Press, Oxford
Angeles J (2014) Fundamentals of robotic mechanical systems: Theory, Methods, and Algorithms, 4th edn. Springer, New York
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2020 Springer Nature Singapore Pte Ltd.
About this chapter
Cite this chapter
Sun, T., Yang, S., Lian, B. (2020). Topology and Performance Modeling of Robotic Mechanism. In: Finite and Instantaneous Screw Theory in Robotic Mechanism. Springer Tracts in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-15-1944-4_3
Download citation
DOI: https://doi.org/10.1007/978-981-15-1944-4_3
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-15-1943-7
Online ISBN: 978-981-15-1944-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)