Kinematics of a spherical parallel mechanism with identical limb structures using the linear implicitization algorithm and Euclidean Geometry
This paper investigates the inverse and forward kinematic expressions of a three degrees-of-freedom parallel mechanism with identical limb structures, performing three independent rotations. The forward kinematic and constraint expressions are explored in two different spaces, namely, seven-dimensio...
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| Vydáno v: | 2013 First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) s. 74 - 79 |
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| Hlavní autoři: | , , |
| Médium: | Konferenční příspěvek |
| Jazyk: | angličtina |
| Vydáno: |
IEEE
01.02.2013
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| Témata: | |
| ISBN: | 1467358096, 9781467358095 |
| On-line přístup: | Získat plný text |
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| Shrnutí: | This paper investigates the inverse and forward kinematic expressions of a three degrees-of-freedom parallel mechanism with identical limb structures, performing three independent rotations. The forward kinematic and constraint expressions are explored in two different spaces, namely, seven-dimensional kinematic space and Euclidean space. The algorithm applied to obtain the forward kinematic and constraint equations in seven-dimensional space, by the means of Study parameters, is a novel approach which is the so-called linear implicitization algorithm. Moreover, the working and assembly modes are computed upon writing the kinematic expression in Euclidean space. |
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| ISBN: | 1467358096 9781467358095 |
| DOI: | 10.1109/ICRoM.2013.6510084 |