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Kinematics, Dynamics and Design of Parallel Manipulators

Authors: [tex2html_wrap4296]K. Etemadi-Zanganeh, J. Angeles, J.-P. Merlet (INRIA, Sophia-Antipolis Centre, France)

Investigator username: angeles

Category: robotics

Subcategory: modelling and simulation

It is known that parallel manipulators have higher payload capacity, more rigidity and better dynamic performance as compared to serial manipulators. However, parallel manipulators themselves suffer from small workspaces and low dexterity. To overcome the foregoing drawbacks we combined the concepts of redundancy and modularity in the process of kinematic design and obtain a new class of hybrid parallel manipulators. To this end, some novel designs pertaining to the foregoing class, with a complete analysis of their associated kinematic problems, have been presented. We are now attempting to write a general symbolic routine to perform the kinematic analysis automatically. Also, studies have been conducted on the direct kinematics of general parallel manipulators. As a result, a new formulation was presented whereby the positioning and orientation problems can be decoupled. A real-time implementation using extra-sensor data has been accomplished. We are now studying algorithms for the dynamics of these manipulators. This work is partly funded by IRIS (C-2 Project) and a collaborative grant of Quebec's Ministère des affaires étrangères, which allows us to collaborate with the PRISME Project of the Institut de recherches en informatique et en automatique (INRIA), at Sophia-Antipolis, France.

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