The 321-HEXA: a fully-parallel manipulator with closed-form position and velocity kinematics

Author

Bruyninckx, Herman

Author_Institution

Dept. of Mech. Eng., Katholieke Univ., Leuven, Heverlee, Belgium

Volume

3

fYear

1997

fDate

20-25 Apr 1997

Firstpage

2657

Abstract

This paper presents analytical solutions for the forward displacement and velocity kinematics of the “321-HEXA”, a fully-parallel manipulator design with R-RR-RRR legs as in the “HEXA” design and with a “3-2-1” top platform. The forward position and velocity kinematics rely on simple geometric algorithms that find the position and velocity of the top of a tetrahedron from the knowledge of the tetrahedron´s side lengths as well as the position and velocity of the base triangle points. The forward position kinematics give eight solutions, requiring linear and quadratic equations only. The inverse kinematics requires the solution of one quartic equation for each leg

Keywords

computational geometry; manipulator kinematics; matrix algebra; position control; velocity control; 321-HEXA; closed-form position; forward displacement; geometric model; parallel manipulator; platform; quadratic equations; quartic equation; tetrahedron; velocity kinematics; Algorithm design and analysis; Closed-form solution; Equations; Kinematics; Leg; Manipulators; Mechanical engineering; Solid modeling; Transmission line matrix methods; USA Councils;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.619362

Filename

619362