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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Bibliographic Details
Published in:2013 First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) pp. 74 - 79
Main Authors: Chaeibakhsh, S., Farzaneh Kaloorazi, Mohammad Hadi, Tale Masouleh, Mehdi
Format: Conference Proceeding
Language:English
Published: IEEE 01.02.2013
Subjects:
Equations
Geometry
Kinematics
Lead
Robots
ISBN:1467358096, 9781467358095
Online Access:Get full text
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Summary: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.
ISBN:1467358096
9781467358095
DOI:10.1109/ICRoM.2013.6510084