Title :
Direct Kinematics of a 6-PUS Parallel Robot Using a Numeric-Geometric Method
Author :
Ruiz-Garcia, Javier ; Chaparro-Altamirano, Daniel ; Zavala-Yoe, Ricardo ; Ramirez-Mendoza, Ricardo
Author_Institution :
Escuela de Diseno, Ing. y Arquitectura, Inst. Tecnol. y de Estudios Super. de Monterrey, Monterrey, Mexico
Abstract :
A numerical method to solve the direct kinematics of the 6-PUS parallel robot is presented. This method is based on a simplified geometry of the robot, in such a way that each pair of limbs forms a triangle, the locus of the top vertex of this triangle is an arc. Results of the implementation of the algorithm are presented.
Keywords :
computational geometry; iterative methods; manipulator kinematics; 6-PUS parallel robot kinematics; direct kinematics; iterative algorithm; numeric-geometric method; robot geometry; Actuators; Kinematics; Manipulators; Parallel robots; Robot kinematics; Vectors; direct kinematics; parallel robot;
Conference_Titel :
Mechatronics, Electronics and Automotive Engineering (ICMEAE), 2013 International Conference on
Conference_Location :
Morelos
Print_ISBN :
978-1-4799-2252-9
DOI :
10.1109/ICMEAE.2013.12
