Title :
An Incremental Method for Forward Kinematics of Parallel Manipulators
Author_Institution :
Dept. of Mech. Eng., Coll. of New Jersey, Ewing, NJ
Abstract :
This paper presents a simple numerical method for forward kinematics of a general 6-DOF parallel manipulators, which can generate a unique solution directly. This method utilizes the trivial nature of the inverse kinematics of parallel manipulators, and derives a straightforward linear relationship between the small change of joint variables (leg lengths) and the resulting small motion of the platform. The solution to the forward kinematics is then achieved through a series of small changes in joint variables. Numerical examples validate and confirm the efficiency of the method
Keywords :
manipulator kinematics; numerical analysis; forward kinematics; inverse kinematics; numerical method; parallel manipulator; Aerospace simulation; Calibration; Educational institutions; Kinematics; Leg; Manipulator dynamics; Mechanical engineering; Medical robotics; Polynomials; Virtual manufacturing; Forward Kinematics; Parallel Manipulators;
Conference_Titel :
Robotics, Automation and Mechatronics, 2006 IEEE Conference on
Conference_Location :
Bangkok
Print_ISBN :
1-4244-0024-4
Electronic_ISBN :
1-4244-0025-2
DOI :
10.1109/RAMECH.2006.252629
