A FORWARD AND REVERSE DISPLACEMENT ANALYSIS OF A 6-DOF IN-PARALLEL MANIPULATOR

被引：61

作者：

ALIZADE, RI ^{[1
]}

TAGIYEV, NR ^{[1
]}

DUFFY, J ^{[1
]}

机构：

[1] UNIV FLORIDA,DEPT MECH ENGN,CTR INTELLIGENT MACHINES & ROBOT,GAINESVILLE,FL 32611

来源：

MECHANISM AND MACHINE THEORY | 1994年 / 29卷 / 01期

关键词：

Kinematics;

D O I：

10.1016/0094-114X(94)90024-8

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A kinematic analysis of a 6 degree of freedom (DOF) parallel manipulator which has three legs, mounted on moving sliders is described. Therefore, the 6 DOF are provided by the slider displacements and by changing the leg lengths. This manipulator structure provides a large functional workspace. A forward displacement analysis is performed by using a decomposition method and reduces to the one non-linear equation solution by using an interaction method. Two distinct reverse displacement analyses are given. A manipulator workspace determination and a method for the specification of the platform position in space.

引用

页码：115 / 124

页数：10