Title :
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
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;
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
DOI :
10.1109/ICMA.2007.4303666
