Projects per year
Abstract
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.
Original language | English |
---|---|
Pages (from-to) | 709-716 |
Journal | Journal of Mechanical Design |
Volume | 125 |
Issue number | 4 |
DOIs | |
Publication status | Published - 2003 |
Fingerprint
Dive into the research topics of 'Trajectory Planning for Constrained Parallel Manipulators'. Together they form a unique fingerprint.Projects
- 1 Finished