Journal
MECHANISM AND MACHINE THEORY
Volume 44, Issue 12, Pages 2153-2163Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2009.06.005
Keywords
Schonflies-motion; Schonflies; X-motion; Displacement Lie group; Mechanical generator; Singularity; SCARA robot; Parallel manipulator
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Funding
- National Science Council [NSC 95-2221-E-151-011, NSC 98-2221-E-151-019]
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In this paper, we focus on some examples of practical applications of the primitive Schonflies-motion generators that are named also the primitive X-motion generators for conciseness. We address especially the serial SCARA-type robots and the 3-dof translational parallel manipulators. Based on the limb architectures of primitive X-motion generators, we systematically introduce general architectures of serial or parallel manipulators for the purpose of practical applications. The brief account of various achievements of some of the X-motion generators that are already described in the recent literature is also proposed and their obviously singular postures are preliminarily obtained. (C) 2009 Elsevier Ltd. All rights reserved.
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