Abstract
In this contribution we present a uniform notation for any kind of kinematic structure ranging from serial robots and parallel robots to hybrid kinematic structures as well as from multi-finger grippers to the kinematics of locomotive or humanoid robots. If kinematic structures contain passive joints, they often are of spherical or cardan nature. To describe these types of joints, a new notation based on the well-known Denavit-Hartenberg notation is presented. Additionally, closed kinematic chains and structures with more than one chain attached to a robot basis can be denoted by our graph based representation. Our goal is to provide the robot community with a unified description of kinematic structures - as it has been done by the classical DH-parameter notation for serial robots - in order to support the development for exchangeable programming tools and ideas.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Gough, V., Whitehall, S.: Universal tyre test machine. In: Proc. of the IX Int. Techn. Congr. F.I.S.I.T.A. (1962)
Stewart, D.: A platform with 6 degrees of freedom. In: Proc. of the Institution of Mechanical Engineers, pp. 371–386 (1965)
Hesselbach, J., Frindt, M.: Structural classification and systematic design of machines basing on parallel structures. In: Proc. of the International Symposium on Robotics, pp. 65–70 (2000)
Clavel, R.: Delta, a fast robot with parallel geometry. In: Proc. of International Symposium on Idustrial Robots (ISIR), pp. 91–100 (1988)
Miller, K.: The proposal of a new model of direct drive robot delta-4 dynamics. In: Proc. of the IEEE International Conference on Advanced Robotics, Tokyo, Japan, pp. 411–416 (1992)
Gosselin, C.M., Angeles, J.: Singularity analysis of closed-loop kinematic chains. IEEE Trans. on Robotics and Automation 6(3), 281–290 (1990)
Merlet, J.-P.: Parallel Robots. Kluwer, Dordrecht (2000)
Pierrot, F., Marquet, F., Company, O., Gil, T.: H4 parallel robot: Modeling design and preliminary experiments. In: Proc. of the IEEE International Conference on Robotics and Automation, Seoul, Korea, pp. 3256–3261 (2001)
Gosselin, C.M., Masouleh, M.T., Duchaine, V., Richard, P.-L., Foucault, S., Kong, X.: Parallel mechanisms of the multipteron family: Kinematic architectures and benchmarking. In: Proc. of the IEEE International Conference on Robotics and Automation, pp. 555–560 (2007)
Kong, X., Gosselin, C.M.: Kinematics and singularity analysis of a novel type of 3-crr 3-dof translational parallel manipulator. The International Journal of Robotics Research 21(9), 791–798 (2002)
Merlet, J.-P.: Solving the forward kinematic of a gough-type parallel manipulator with interval analysis. The International Journal of Robotics Research 23(3), 221–235 (2004)
Thomas, U., Maciuszek, I., Wahl, F.M.: A unified notation for serial, parallel and hybrid kinematic structures. In: Proc. of the IEEE International Conference on Robotics and Automation, pp. 2868–2873 (2002)
Denavit, J., Hartenberg, R.S.: A kinematic notation for lower pair mechanisms based on matrices. ASME Journal of Applied Mechanics 22, 215–221 (1955)
Mayer, B.S.-O., Gosselin, C.: Singularity analysis and representation of the general gough-stewart platform. The International Journal of Robotics Research 19(3), 271–288 (2000)
Kim, W.K., Byun, K., Cho, H.S.: Closed-forward position solution for a 6-dof 3-ppsp parallel mechanism and its implementation. The International Journal of Robotics Research 20(1), 85–99 (2001)
Pio Belifiore, A.D.B.N.: Connectivity and redundancy in spatial robots. The International Journal of Robotics Research 19(12), 1245–1261 (2000)
Erdmann, A.G., Sandor, G.N.: Mechanism Design – Analysis and Synthesis. Prentice-Hall, Englewood Cliffs (1991)
Tsai, L.W.: The kinematics of spatial robotic bevel-ear trains. IEEE Journal of Robotics and Automation 4(2), 150–156 (1988)
Veitschegger, W.K., Wu, C.: A method for calibrating and compensating robot kinematic errors. In: Proc. of the IEEE International Conference on Robotics and Automation (1987)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Thomas, U., Wahl, F.M. (2010). A Unified Notation for Serial, Parallel and Hybrid Kinematic Structures. In: Schütz, D., Wahl, F.M. (eds) Robotic Systems for Handling and Assembly. Springer Tracts in Advanced Robotics, vol 67. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16785-0_1
Download citation
DOI: https://doi.org/10.1007/978-3-642-16785-0_1
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-16784-3
Online ISBN: 978-3-642-16785-0
eBook Packages: EngineeringEngineering (R0)