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Kinematic analysis of partially decoupled fully-parallel manipulators of type 5-5 and 4-5

Published online by Cambridge University Press:  01 March 2009

Rocco Vertechy  and
Vincenzo Parenti-Castelli
Rocco Vertechy
Affiliation:
Department of Mechanical Engineering – DIEM, University of Bologna, Viale Risorgimento 2, 40136 Bologna, Italy.
Vincenzo Parenti-Castelli*
Affiliation:
Department of Mechanical Engineering – DIEM, University of Bologna, Viale Risorgimento 2, 40136 Bologna, Italy.
*
*Corresponding author. E-mail: vincenzo.parenticastelli@mail.ing.unibo.it
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Summary

This paper presents two fully parallel manipulators of type 5-5 and 4-5 with special geometry that makes them partially decoupled. The direct kinematic analysis and the singularity study of these manipulators are addressed, which show that the motion of the manipulators can be easily controlled. Computational considerations are reported, which demonstrate that the algorithms proposed for the direct kinematic analysis are very efficient. Moreover, a comparison with other special geometries illustrates that the proposed manipulators are valuable solutions and represent a good compromise between an efficient controllability and a simple practical feasibility.

Keywords

Fully-Parallel ManipulatorsDecoupled ManipulatorsReal-Time Direct Kinematic
Type
Article
Information
Robotica , Volume 27 , Issue 2 , March 2009 , pp. 235 - 240
Copyright
© Cambridge University Press 2008

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