Title :
Position Analysis of a Novel 3-5R Parallel Platform Mechanism Using Continuation Method
Author :
Shihua, Li ; Chongjie, Du ; Zhen, Huang
Author_Institution :
Robotics Res. Center, Yanshan Univ., Qinhuangdao
Abstract :
By adopting a continuation approach, the position analyses of a novel 3-5R parallel mechanism, which has three translation degrees of freedom, are conducted. Next, an equation system of the mechanism structure constraint and an initial equation system are established. Next, a versatile software for solving polynomial equation system is compiled. As giving one displacement, all inverse kinematics are obtained from this software
Keywords :
manipulator kinematics; polynomials; position control; 3-5R parallel mechanism; continuation method; inverse kinematics; polynomial equation system; position analysis; Equations; Kinematics; Machinery; Mechatronics; Parallel robots; Polynomials; Power transmission; Robotic assembly; Robotics and automation; Spatial resolution; Continuation method; Novel parallel manipulator; Position analysis;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257586
