Analytical forward kinematics to the 3 DOF congruent spherical parallel robot manipulator

Ping Ji, Hongtao Wu

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

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 languageEnglish
Title of host publicationICINCO 2013 - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics
Pages111-115
Number of pages5
Volume2
Publication statusPublished - 3 Dec 2013
Event10th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2013 - Reykjavik, Iceland
Duration: 29 Jul 201331 Jul 2013

Conference

Conference10th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2013
Country/TerritoryIceland
CityReykjavik
Period29/07/1331/07/13

Keywords

  • Analytical Solution
  • Forward Kinematics
  • Parallel Platform
  • Robot Manipulator

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems
  • Control and Systems Engineering

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