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Enumeration of parallel manipulators

Published online by Cambridge University Press:  01 July 2009

Roberto Simoni ,
Andrea Piga Carboni  and
Daniel Martins
Roberto Simoni*
Affiliation:
Mechanical Engineering Department, Universidade Federal de Santa Catarina 88040-900, Florianópolis, SC, Brazil.
Andrea Piga Carboni
Affiliation:
Mechanical Engineering Department, Universidade Federal de Santa Catarina 88040-900, Florianópolis, SC, Brazil.
Daniel Martins
Affiliation:
Mechanical Engineering Department, Universidade Federal de Santa Catarina 88040-900, Florianópolis, SC, Brazil.
*
*Corresponding author. E-mail: [email protected]
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Summary

In this paper, we present a new method of enumeration of parallel manipulators with one end-effector. The method consists of enumerating all the manipulators possible with one end-effector that a single kinematic chain can originate. A very useful simplification for kinematic chain, mechanism and manipulator enumeration is their representation through graphs. The method is based on group theory where abstract structures are used to capture the internal symmetry of a structure in the form of automorphisms of a group. The concept used is orbits of the group of automorphisms of a colored vertex graph. The theory and some examples are presented to illustrate the method.

Keywords

Kinematic chainMechanismManipulatorGroup theoryGraph theoryAutomorphismActionOrbit
Type
Article
Information
Robotica , Volume 27 , Issue 4 , July 2009 , pp. 589 - 597
Copyright
Copyright © Cambridge University Press 2008

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