• DocumentCode
    3268101
  • Title

    Star Parallel Manipulators Have More Than Two Assembly Modes

  • Author

    Sayd, Mamdouh ; Baron, Luc ; Mascle, Christian

  • Author_Institution
    Department of Mechanical Engineering, École Polytechnique de Montréal, P.O. 6079, station Centre-Ville, Montréal, Québec, Canada, H3C 3A7. mamdouh.sayd@polymtl.ca
  • fYear
    2003
  • fDate
    12-12 June 2003
  • Firstpage
    654
  • Lastpage
    658
  • Abstract
    This paper presents a graphic solution method for the direct kinematic of Star translational parallel manipulators of general geometry. The method allows one to find all the position of the end-effector from a given set of actuated joint positions, which is equivalent to find the intersection points of three meridian-circular screw surfaces. Algebraically, this problem reduces to solve six nonlinear equations in six unknowns, from which it may exist more than two solutions.
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control and Automation, 2003. ICCA '03. Proceedings. 4th International Conference on
  • Conference_Location
    Montreal, Que., Canada
  • Print_ISBN
    0-7803-7777-X
  • Type

    conf

  • DOI
    10.1109/ICCA.2003.1595103
  • Filename
    1595103
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3268101