DocumentCode
2442566
Title
Kinematics Analysis of a 3-dof Rotational Parallel Mechanism
Author
Dai Xiaolin ; Huang Qitao ; Jiang Hongzhou ; Junwei, H.
Author_Institution
Sch. of Mechatron. Eng., Harbin Inst. of Technol., Harbin
fYear
2008
fDate
27-28 Dec. 2008
Firstpage
404
Lastpage
407
Abstract
A 3-dof rotational parallel mechanism is presented which has three struts and three actuators and is a plasmodium of the Stewart platforms. The kinematics of this robot is derived, and the kinematics analysis is investigated based on analytical solution of the inverse kinematics and numerical solution of the forward kinematics. This mechanism is popular in the fields of simulators and parallel kinematics machines.
Keywords
inverse problems; matrix algebra; robot kinematics; 3-dof rotational parallel mechanism; Stewart platform plasmodium; actuators; forward kinematics; inverse kinematics; parallel kinematics machines; robot kinematics analysis; rotation matrix; struts; Actuators; Analytical models; Automatic testing; Equations; Mechatronics; Parallel robots; Robot kinematics; System testing; Virtual manufacturing; Weapons;
fLanguage
English
Publisher
ieee
Conference_Titel
Modelling, Simulation and Optimization, 2008. WMSO '08. International Workshop on
Conference_Location
Hong Kong
Print_ISBN
978-0-7695-3484-8
Type
conf
DOI
10.1109/WMSO.2008.73
Filename
4757036
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