Title :
Analytical kinematics models and special geometries of a class of 4-DOF parallel mechanisms
Author :
Zoppi, Matteo ; Zlatanov, Dimiter ; Gosselin, Clément M.
Author_Institution :
Dept. of Mech. & Machine Design, Univ. of Genova, Italy
Abstract :
The paper discusses forward and inverse kinematics of a class of four-degree-of-freedom (DOF), four-legged parallel mechanisms providing three rotational and one translational DOFs. A fully parametric analytical form solution to the inverse-position problem is provided. All working modes of the mechanism are shown and discussed. The equations of the forward-position problem are obtained under different leg arrangements, and a numerical example is provided. New special geometries in the class are proposed, including one suitable for keyhole surgery.
Keywords :
inverse problems; legged locomotion; manipulator kinematics; medical robotics; position control; analytical kinematics models; forward kinematics; four-legged parallel mechanisms; inverse kinematics; inverse position problems; surgical robot; Analytical models; Computational geometry; Differential equations; Kinematics; Leg; Manufacturing automation; Medical robotics; Minimally invasive surgery; Robotics and automation; Robots; Four-degree-of-freedom (DOF) mechanisms; kinematics; parallel mechanisms (PMs); surgical robot;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2005.853494
