Title of Dissertation: A THREE DEGREE OF FREEDOM PARALLEL MANIPULATOR WITH ONLY TRANSLATIONAL DEGREES OF FREEDOM Richard Eugene Stamper, Doctor of Philosophy, 1997 Dissertation directed by: Professor Lung-Wen Tsai Department of Mechanical Engineering and Institute for Systems Research In this dissertation, a novel parallel manipulator is investigated. The manipulator has three degrees of freedo...

This paper addresses the kinematics of the Underwater Vehicle-Manipulator Systems (UVMSs). Due the adittional degrees of freedom (dofs) provided by the vehicle, such systems are kinematically redundant, i.e. they possess more dofs than those required to execute a given task, and need to be solved using some redundancy technique. We present an approach based on introducing kinematic constraints....

Kinematics studies the motion of bodies without consideration of the forces or moments that cause the motion. Robot kinematics refers the analytical study of the motion of a robot manipulator. Formulating the suitable kinematics models for a robot mechanism is very crucial for analyzing the behaviour of industrial manipulators. There are mainly two different spaces used in kinematics modelling ...

Abstract In this paper, a 5-DOF manipulator is designed to carry the pipeline robot. The joint coordinate system and connecting rod parameters of are confirmed by D-H method, kinematics model established. position direction end deduced using homogeneous transformation method. Monte Carlo method used solve workspace manipulator, MATLAB draw cloud map. Set motion trajectory space planning, throug...

This paper describes a new approach for approximating the inverse kinematics of a manipulator using a RBFN (Radial Basis Function Network). A training approach using the strict interpolation method and the LMS (Least Mean Square) algorithm is presented. The strict interpolation method with regularly spaced position training patterns in the workspace can produce an appropriate approximation of t...

This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint values. The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The study focuses on the most usual case ...

A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity analysis of a 3-PRPiR parallel robot involving lockable Pi and R (revolute) joints. Here a Pi joint may act as a 1-DOF planar parallelogram if its lockable P (pr...

This paper provides an estimation model for calibrating the kinematics of manipulators with a parallel geometrical structure. Parameter estimation for serial link manipulators is well developed, but fail for most structures with parallel actuators, since the forward kinematics is usually not analytically available for these. We extend parameter estimation to such parallel structures by developi...

The inverse kinematics problem of a reclaimer which excavates and transports raw materials in a raw yard is investigated. Because of the geometric feature of the equipment of which scooping buckets are attached around a rotating disk, kinematic redundancy occurs in aktermining joint variables. Link coordinates are introduced following the Denavit-Hatenberg representation. For a given excavation...