Abstract
This paper studies the kinematics of a special three degree-of-freedom (3 DOF) spherical parallel robot manipulator, where the two pyramids are exactly the same and so it is commonly called the 3 DOF congruent spherical parallel platform. Due to this special structure, the movement of the mobile pyramid can be regarded as the rotation of a rigid body from its base posture to its current status. By use of this special property, the forward kinematics of the parallel robot manipulator is obtained in this paper, and the final solution is a univariate quartic equation, which can be solved analytically without numerical iterations. A numerical example is provided to illustrate the method.
| Original language | English |
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| Title of host publication | ICINCO 2013 - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics |
| Pages | 111-115 |
| Number of pages | 5 |
| Volume | 2 |
| Publication status | Published - 3 Dec 2013 |
| Event | 10th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2013 - Reykjavik, Iceland Duration: 29 Jul 2013 → 31 Jul 2013 |
Conference
| Conference | 10th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2013 |
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| Country/Territory | Iceland |
| City | Reykjavik |
| Period | 29/07/13 → 31/07/13 |
Keywords
- Analytical Solution
- Forward Kinematics
- Parallel Platform
- Robot Manipulator
ASJC Scopus subject areas
- Artificial Intelligence
- Information Systems
- Control and Systems Engineering