This paper considers the design of cylindric PRS serial chains. This five degree-of-freedom robot can be designed to reach an arbitrary set of eight spatial positions. However, it is often convenient to choose some of the design parameters and specify a task with fewer positions. For this reason, we study the three through eight position synthesis problems and consider various choices of design parameters for each. A linear product decomposition is used to obtain bounds on the number of solutions to these design problems. For all cases of six or fewer positions, the bound is exact and we give a reduction of the problem to the solution of an eigenvalue problem. For seven and eight position tasks, the linear product decomposition is useful for generating a start system for solving the problems by continuation. The large number of solutions so obtained contraindicates an elimination approach for seven or eight position tasks, hence continuation is the preferred approach.
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March 2004
Technical Papers
Geometric Design of Cylindric PRS Serial Chains
Hai-Jun Su,
Hai-Jun Su
Robotics and Automation Laboratory, Department of Mechanical and Aerospace Engineering, University of California, Irvine, CA 92697
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Charles W. Wampler,
Charles W. Wampler
General Motors R&D Center, Warren, Michigan 48090-9055
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J. Michael McCarthy
J. Michael McCarthy
Robotics and Automation Laboratory, Department of Mechanical and Aerospace Engineering, University of California, Irvine, CA 92697
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Hai-Jun Su
Robotics and Automation Laboratory, Department of Mechanical and Aerospace Engineering, University of California, Irvine, CA 92697
Charles W. Wampler
General Motors R&D Center, Warren, Michigan 48090-9055
J. Michael McCarthy
Robotics and Automation Laboratory, Department of Mechanical and Aerospace Engineering, University of California, Irvine, CA 92697
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received March 2003. Associate Editor: M. Raghavan.
J. Mech. Des. Mar 2004, 126(2): 269-277 (9 pages)
Published Online: May 5, 2004
Article history
Received:
March 1, 2003
Online:
May 5, 2004
Citation
Su, H., Wampler, C. W., and McCarthy, J. M. (May 5, 2004). "Geometric Design of Cylindric PRS Serial Chains ." ASME. J. Mech. Des. March 2004; 126(2): 269–277. https://doi.org/10.1115/1.1667965
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