文档介绍：Available online at hanism
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Machine Theory
Mechanism and Machine Theory 43 (2008) 754–770
ate/mechmt
Topology of serial and parallel manipulators
and topological diagrams
Xiaoyu Wang, Luc Baron *, Guy Cloutier
Ecole Polytechnique of Montreal, Department of Mechanical Engineering, . 6079, . Centre-Ville, Montreal, QC, Canada H3C 3A7
Received 3 November 2006; received in revised form 2 May 2007; accepted 15 May 2007
Available online 12 July 2007
Abstract
This paper deals with manipulator topology. The term topology was first introduced into robotics to characterize the
kinematic structure of a manipulator without reference to its dimensions. Its dimension-independent aspect does not pose a
considerable problem to planar manipulators, but makes it no longer appropriate to describe spatial manipulators espe-
cially spatial parallel manipulators, because such important properties as the degree of freedom of a manipulator and the
degree of mobility of its end-effector as well as the nature of the mobility are highly dependent on some dimensional ele-
ments. In order to address this fundamental issue in kinematic synthesis, we introduced essential constraints into the con-
cept of topology through the analysis of representative architectures, proposed a topological representation which provides
a better correspondence between the representation and the intended manipulators, a necessity for topological synthesis
and documentation. Introducing the essential constraints can also improve the efficiency of some synthesis methods.
Ó 2007 Elsevier Ltd. All rights reserved.
Keywords: Manipulator; Topology; Geometry; Representation; Diagram
1. Introduction
As far as the kinematics is concerned, a mechanism is a kinematic chain with one of its links designated as
the base and another as the end-effector. A manipulator is a mechanism with all or some of its joints actuated.
Driven by the actuated joints, the end-effector and all links undergo con