MOTION CONTINUITY AND BRANCH IDENTIFICATION OF TWO-DOF SEVEN-BAR PLANAR PARALLEL MANIPULATORS AND LINKAGES
Jun Wang, Kwun-Lon Ting, Yajing Gong, and Hongxiu He
Keywords
Mobility, branch, motion continuity, multiple-loop linkages, two-DOF seven-bar parallel manipulators, joint rotation space
Abstract
Motion continuity or branch identification is a troublesome topic
in manipulators and linkages design as well as robot navigation
programming and motion control. A manipulator or linkage must
be transformed continuously between discrete positions or configu-
rations. The paper presents a simple model based on joint rotation
space (JRS) and followed by algebraic expressions to explain and
describe the formation and identification of branches (i.e., circuits,
assembly modes or configuration spaces) and motion discontinu-
ity of two-DOF planar seven-bar parallel manipulators. It also
presents an algorithm for branch or motion continuity automatic
identification among discrete positions. The branches of all three
types of seven-bar chains may be understood and identified by
this method. The analytical approach can be implemented with
automated computer-aided motion continuity rectification, which is
explained with examples. The research can be used to design the
two-DOF parallel manipulators with desire workspace or for precise
motion control.
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