Title :
The analytical forward displacement kinematics of the “31-12” parallel manipulator
Author :
Bruyninckx, Herman
Author_Institution :
Dept. of Mech. Eng., Katholieke Univ., Leuven, Heverlee, Belgium
Abstract :
This paper presents analytical solutions for the forward displacement kinematics of the “31-12” fully parallel manipulator design. In this design, three points in the base platform are linked to one single point in the top platform, while two of the remaining top platform points are linked to a single point in the base. Neither the base nor the top platforms of the manipulator have to be planar. The forward position kinematics give eight solutions, requiring nothing more difficult than the solution of quadratic equations
Keywords :
computational geometry; manipulator kinematics; polynomials; position control; forward displacement kinematics; forward position; geometric model; parallel manipulator; platform points; quadratic equations; Assembly; Ear; Equations; Kinematics; Leg; Manipulators; Mechanical engineering; Parallel robots; Polynomials; Uniform resource locators;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.606736
