Title :
A numerical algorithm for solving displacement kinematics of parallel manipulators
Author :
Moghaddam, Iman Ebrahimi ; Bahrami, Mohsen
Author_Institution :
Dept. of Mech. Eng., New Brunswick Univ., Fredericton, NB, Canada
Abstract :
This paper presents a numerical algorithm to solve the inverse and forward displacement problems with preferred and practical configurations. The proposed algorithm is adaptable for different accuracies and is defined by the geometrical characteristics of the manipulator. To verify the capabilities of the algorithm, it is used to solve the inverse and forward displacement problems for the 3-P_RS and then for the 3-R_RRR manipulators. Inverse and forward displacement solutions for the 3-P_RS are compared to closed-form and Bezout´s elimination method respectively.
Keywords :
inverse problems; manipulator kinematics; 3-P_RS manipulator; 3-R_RRR manipulator; Bezout´s elimination method; closed-form method; displacement kinematics; forward displacement problem; geometrical characteristics; inverse displacement problem; numerical algorithm; parallel manipulator; Actuators; Aerospace simulation; Closed-form solution; Context modeling; Kinematics; Manipulators; Mechanical engineering; Niobium; Parallel robots; Payloads;
Conference_Titel :
Industrial Electronics Society, 2005. IECON 2005. 31st Annual Conference of IEEE
Print_ISBN :
0-7803-9252-3
DOI :
10.1109/IECON.2005.1569189
