Title :
Kinematics of a novel three DOF translational platform
Author :
Tsai, Lung-wen ; Walsh, Gregory C. ; Stamper, Richard E.
Author_Institution :
Dept. of Mech. Eng., Maryland Univ., College Park, MD, USA
Abstract :
A novel 3-DOF parallel manipulator is presented that employs only revolute joints and constrains the manipulator output to translational motion. Closed-form solutions are developed for both the inverse and forward kinematics. The inverse kinematics produces four solutions for each leg of the manipulator. In general, the four solutions are realized in only two unique leg configurations. The forward kinematic solution is reduced to a quadratic equation. So that in general, there are two poses the manipulator can assume for a given set of input joint angles
Keywords :
computational geometry; manipulator kinematics; motion control; 3-DOF parallel manipulator; 3-DOF translational platform; forward kinematics; input joint angles; inverse kinematics; leg configurations; translational motion; Arm; Closed-form solution; Educational institutions; Equations; Kinematics; Leg; Manipulators; Mechanical engineering; Micromanipulators; Pneumatic actuators;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.509237
