Title of article
Closed form solution for direct kinematics of a 4PUS C 1PS parallel manipulator
Author/Authors
Abbasnejad، G. نويسنده M.S. degrees , , Daniali، H.M. نويسنده Associate Professor , , Asghar Fathi، A. نويسنده Department of Crop Protection, Faculty of Agriculture, University of Mohaghegh Ardabili, Ardabil, Iran. Asghar Fathi, A.
Issue Information
دوماهنامه با شماره پیاپی 0 سال 2012
Pages
7
From page
320
To page
326
Abstract
This paper presents the direct kinematics solution of a 4PUS C 1PS parallel manipulator. The
mechanism consists of a fixed base and moving platform connected by five serial chains. The solution of
its direct kinematics yields an eighth-degree polynomial in a single variable, which indicates that there
may be up to eight different configurations for the moving platform for a given set of joint variables. A
numerical example with eight real solutions is included. Therefore, the polynomial is minimal.
Journal title
Scientia Iranica(Transactions B:Mechanical Engineering)
Serial Year
2012
Journal title
Scientia Iranica(Transactions B:Mechanical Engineering)
Record number
945079
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