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dimensional homogeneous jacobian matrix

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Mobility analysis and kinematic synthesis of a novel 4-DoF parallel manipulator
Gang Dong, Tao Sun, Yimin Song, Hao Gao, Binbin Lian
Journal:

Robotica / Volume 34 / Issue 5 / May 2016

Published online by Cambridge University Press:

13 August 2014, pp. 1010-1025
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This paper proposes a novel parallel manipulator with 1 translational and 3 rotational degrees of freedom, which may be designed as the docking equipment for large-scale component assemblage in the aircraft industry. First, the mobility and kinematic analysis of the novel manipulator is performed using the screw theory and the closed-loop vector method. To evaluate the kinematic performance of the manipulator, its workspace is calculated, and the dimensional homogeneous Jacobian matrix of this manipulator is deduced. Mainly based on a nonlinear programming approach, the kinematic dimensional synthesis is performed to optimise the dimensional parameters of this novel parallel manipulator in a prescribed workspace. The results of this paper may lay a solid foundation for the prototype design and manufacture of the novel parallel manipulator.