Forward Kinematics Analysis of the New 3-CCC Parallel Mechanism

Author

Gan, Dongming ; Liao, Qizheng ; Wei, Shimin

Author_Institution

Beijing Univ. of Posts & Telecommun., Beijing

fYear

2007

fDate

5-8 Aug. 2007

Firstpage

905

Lastpage

910

Abstract

A new parallel mechanism 3-CCC which has distance and angle constraints is described in this paper. A closed-form solution to the forward displacement analysis of it is presented. Sylvester resultant is used with the angle equations and three distance equations are treated with by replacing the variables, from which 64 different locations of the platform can be derived, numerical example confirms these theoretical results. Velocity and acceleration equations and Jacobean matrix are obtained by taking the derivative of the constraint equations.

Keywords

Jacobian matrices; robot kinematics; 3-CCC parallel mechanism; Jacobean matrix; Sylvester resultant; angle equations; closed-form solution; distance-angle constraints; forward displacement analysis; forward kinematics analysis; velocity acceleration equations; Acceleration; Actuators; Automation; Differential equations; Gallium nitride; Jacobian matrices; Kinematics; Leg; Mechatronics; Solid modeling; Cylinder; General Stewart platform; kinematics analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2007. ICMA 2007. International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-0828-3

Electronic_ISBN

978-1-4244-0828-3

Type

conf

DOI

10.1109/ICMA.2007.4303666

Filename

4303666