Forward kinematics for Hunt-Primose parallel manipulators

被引：20

作者：

Bruyninckx, H ^{[1
]}

机构：

[1] Katholieke Univ Leuven, Dept Mech Engn, B-3001 Heverlee, Belgium

来源：

MECHANISM AND MACHINE THEORY | 1999年 / 34卷 / 04期

关键词：

D O I：

10.1016/S0094-114X(98)00010-X

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper gives closed-form solutions (requiring linear and quadratic equations only) for the forward displacement and velocity kinematics of two parallel kinematic chain designs presented by Hunt and Primrose in 1993, [4]. The solutions rely on a simple geometric algorithm that finds the top of a tetrahedron if the base triangle and the lengths of all of its sides are known. The forward kinematics has eight configurations. (C) 1998 Elsevier Science Ltd. All rights reserved.

引用

页码：657 / 664

页数：8

共 17 条

[1]

Bruyninckx H, 1996, RECENT ADVANCES IN ROBOT KINEMATICS, P411

[2]

Gough E., 1962, Proceedings of the FISITA Ninth Int. Technical Congress, P117

[3] A FORWARD DISPLACEMENT ANALYSIS OF A CLASS OF STEWART PLATFORMS [J].

GRIFFIS, M ;

DUFFY, J .

JOURNAL OF ROBOTIC SYSTEMS, 1989, 6 (06) :703-720

[4] ASSEMBLY CONFIGURATIONS OF SOME IN-PARALLEL-ACTUATED MANIPULATORS [J].

HUNT, KH ;

PRIMROSE, EJF .

MECHANISM AND MACHINE THEORY, 1993, 28 (01) :31-42

[5]

HUSAIN M, 1994, T ASME, V116, P1102

[6] An algorithm for solving the direct kinematics of general Stewart-Gough platforms [J].

Husty, ML .

MECHANISM AND MACHINE THEORY, 1996, 31 (04) :365-379

[7] DIRECT POSITION ANALYSIS OF THE STEWART PLATFORM MECHANISM [J].

INNOCENTI, C ;

PARENTICASTELLI, V .

MECHANISM AND MACHINE THEORY, 1990, 25 (06) :611-621

[8]

LEE HY, 1993, IEEE INT C ROB AUT A, P720

[9] A DIRECT DETERMINATION OF THE INSTANTANEOUS KINEMATICS OF FULLY PARALLEL ROBOT MANIPULATORS [J].

MOHAMED, MG ;

DUFFY, J .

JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME, 1985, 107 (02) :226-229

[10] DIRECT KINEMATIC SOLUTION OF A STEWART PLATFORM [J].

NANUA, P ;

WALDRON, KJ ;

MURTHY, V .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1990, 6 (04) :438-444

← 1 2 →