ISR research accomplishments
Parallel Kinematic Machines
Research team
Lung-Wen Tsai (ME/ISR), Don DeVoe (ME/ISR), R.E. Stamper, F. Tahmasebi, C. Kimball, J. Maloney, S. Joshi
Accomplishment
A class of parallel manipulators is enumerated. The kinematics, dynamics, and workspace optimization of parallel manipulators have been investigated. DRIE & aligned wafer bonding make batch fabrication of 3-D micro manipulators feasible.
A class of 3 DOF manipulators has the advantages of low inertia, high stiffness, closed-form direct and inverse kinematics solutions and closed-form dynamic equations.
The inventors developed a prototype demonstration of a light-weight high-stiffness 3-DOF parallel manipulator. Efficient computation of the dynamics of parallel manipulators makes advanced control of such machines feasible. Parallel fabricate of 3-D microstructures advances the state-of-the-art in MEMS industry.
For more information
Tsai, L. W., Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley & Sons, ISBN 0-471-32593-7, New York, NY, 1999.
Tsai, L. W., 2000, “Solving the Inverse Dynamics of a Stewart-Gough Manipulator by the Principle of Virtual Work,” ASME Transactions, Journal of Mechanical Design, 122, No. 1, pp. 1-7.
Tsai, L. W., 1999, “The Enumeration of a Class of Three-DOF Parallel Manipulators,” Procs. of the10th World Congress on Theory of Machines and Mechanisms, Oulu, Finland, 3, pp. 1121-1126.
Stamper, R. E. and Tsai, L. W., 1998, “Two Dynamic Models of a Parallel Manipulator with Three Translational Degrees of Freedom,” CD-ROM Proceedings of the 1998 ASME Design Engineering Technical Conferences, Atlanta, GA, DETC98/MECH-5956.
Tsai, L. W., 1998, “The Jacobian Analysis of A Parallel Manipulator Using Reciprocal Screws,” Proceedings of the 6th International Symposium on Recent Advances in Robot Kinematics, Salzburg, Austria, Kluwer Academic Publishers, pp. 327-336.
Stamper, R. E., Tsai, L. W., and Walsh, G. C., 1997, “Optimization of a Three DOF Translational Platform for Well-Conditioned Workspace,” Proceedings of the 1997 IEEE International Conference on Robotics and Automation, paper No. A1-MF-0025.
ISR Technical Reports | 97-72 | 97-71 | 96-74 |
ISR Ph.D. (Richard E. Stamper) 97-4
