Lie theoretical approach to synthesizing T(3) parallel kinematic manipulators

Yuanqing Wu; Han Ding; Jian Meng; Zexiang Li

doi:10.1109/IROS.2005.1545145

Lie theoretical approach to synthesizing T(3) parallel kinematic manipulators

Yuanqing Wu^*, Han Ding, Jian Meng, Zexiang Li

^*Corresponding author for this work

Department of Electronic and Computer Engineering

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

1 Citation (Scopus)

Abstract

Various parallel kinematic manipulator (PKM) type design papers enumerate eligible links as the combination of revolute and prismatic joints and synthesize using local screw theory, but analysis and comparison on real capacity of different types has not been developed yet. This paper applies differential Lie group tools to developing a spectrum of so called regular link spatial translation (T(3)) PKM, which maximized workspace from a topological point of view.

Original language	English
Title of host publication	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages	1214-1219
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2005.1545145
Publication status	Published - 2005
Event	IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada Duration: 2 Aug 2005 → 6 Aug 2005

Publication series

Name	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Conference

Conference	IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
Country/Territory	Canada
City	Edmonton, AB
Period	2/08/05 → 6/08/05

Keywords

Coset
Lie subgroup
Regular submanifold
T(3) PKM
Type synthesis

Access to Document

10.1109/IROS.2005.1545145

Cite this

@inproceedings{4e57fc8c396c4e56be7b2b3811c2bc39,

title = "Lie theoretical approach to synthesizing T(3) parallel kinematic manipulators",

abstract = "Various parallel kinematic manipulator (PKM) type design papers enumerate eligible links as the combination of revolute and prismatic joints and synthesize using local screw theory, but analysis and comparison on real capacity of different types has not been developed yet. This paper applies differential Lie group tools to developing a spectrum of so called regular link spatial translation (T(3)) PKM, which maximized workspace from a topological point of view.",

keywords = "Coset, Lie subgroup, Regular submanifold, T(3) PKM, Type synthesis",

author = "Yuanqing Wu and Han Ding and Jian Meng and Zexiang Li",

year = "2005",

doi = "10.1109/IROS.2005.1545145",

language = "English",

isbn = "0780389123",

series = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",

pages = "1214--1219",

booktitle = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",

note = "IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 ; Conference date: 02-08-2005 Through 06-08-2005",

}

Wu, Y, Ding, H, Meng, J & Li, Z 2005, Lie theoretical approach to synthesizing T(3) parallel kinematic manipulators. in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 1545145, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, pp. 1214-1219, IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005, Edmonton, AB, Canada, 2/08/05. https://doi.org/10.1109/IROS.2005.1545145

Lie theoretical approach to synthesizing T(3) parallel kinematic manipulators. / Wu, Yuanqing; Ding, Han; Meng, Jian et al.
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. p. 1214-1219 1545145 (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

TY - GEN

T1 - Lie theoretical approach to synthesizing T(3) parallel kinematic manipulators

AU - Wu, Yuanqing

AU - Ding, Han

AU - Meng, Jian

AU - Li, Zexiang

PY - 2005

Y1 - 2005

N2 - Various parallel kinematic manipulator (PKM) type design papers enumerate eligible links as the combination of revolute and prismatic joints and synthesize using local screw theory, but analysis and comparison on real capacity of different types has not been developed yet. This paper applies differential Lie group tools to developing a spectrum of so called regular link spatial translation (T(3)) PKM, which maximized workspace from a topological point of view.

AB - Various parallel kinematic manipulator (PKM) type design papers enumerate eligible links as the combination of revolute and prismatic joints and synthesize using local screw theory, but analysis and comparison on real capacity of different types has not been developed yet. This paper applies differential Lie group tools to developing a spectrum of so called regular link spatial translation (T(3)) PKM, which maximized workspace from a topological point of view.

KW - Coset

KW - Lie subgroup

KW - Regular submanifold

KW - T(3) PKM

KW - Type synthesis

UR - https://openalex.org/W1971492839

UR - https://www.scopus.com/pages/publications/79957979937

U2 - 10.1109/IROS.2005.1545145

DO - 10.1109/IROS.2005.1545145

M3 - Conference Paper published in a book

SN - 0780389123

SN - 9780780389120

T3 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

SP - 1214

EP - 1219

BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

T2 - IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005

Y2 - 2 August 2005 through 6 August 2005

ER -

Lie theoretical approach to synthesizing T(3) parallel kinematic manipulators

Abstract

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Conference

Keywords

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