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and
Machine Theory
Mechanism and Machine Theory 43 (2008) 1431–1449
ate/mechmt
Structural synthesis of Euclidean platform robot
manipulators with variable general constraints
Rasim Alizade *, Fatih Cemal Can, Erkin Gezgin
Mechanical Engineering Department, Izmir Institute of Technology, Urla 35437, Izmir, Turkey
Received 16 November 2006; received in revised form 11 May 2007; accepted 23 November 2007
Available online 14 January 2008
Abstract
In this paper, new method for structural synthesis of Euclidean platform robot manipulators with variable general con-
straints (EPRM) is presented. Three dimensional motion of the base moving platform is generated by the motion of dyads
on the Euclidean planes. Each dyad is connected to the moving base platform by universal, spherical or spherical in torus
(St) kinematic pairs. This allows solving the structural synthesis of Euclidean robot manipulators with various DoF and
different platform motions. New structural formulations with variable general constraints for the platform motion and the
mobility of robot manipulators are presented. The new structural classification of simple structural groups with variable
general constraints including platforms, hinges, legs and branch loops from different subspaces and space is also intro-
duced. Moreover, new method for structural synthesis of serial, parallel and serial–parallel EPRM is illustrated along with
examples.
Ó 2007 Elsevier Ltd. All rights reserved.
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