DocumentCode
2190531
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
Volume
4
fYear
1997
fDate
20-25 Apr 1997
Firstpage
2956
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location
Albuquerque, NM
Print_ISBN
0-7803-3612-7
Type
conf
DOI
10.1109/ROBOT.1997.606736
Filename
606736
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