Trajectory Planning for Constrained Parallel Manipulators

Hai-Jun Su, Peter Dietmaier, J. Michael McCarthy

Research output: Contribution to journalArticlepeer-review


This paper presents an algorithm for generating trajectories for multi-degree of freedom spatial linkages, termed constrained parallel manipulators. These articulated systems are formed by supporting a workpiece, or end-effector, with a set of serial chains, each of which imposes a constraint on the end-effector. Our goal is to plan trajectories for systems that have workspaces ranging from two through five degrees-of-freedom. This is done by specifying a goal trajectory and finding the system trajectory that comes closest to it using a dual quaternion metric. We enumerate these parallel mechanisms and formulate a general numerical approach for their analysis and trajectory planning. Examples are provided to illustrate the results.
Original languageEnglish
Pages (from-to)709-716
JournalJournal of Mechanical Design
Issue number4
Publication statusPublished - 2003


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