Mobility and Direct Kinematics of Parallel Manipulators RSS Type - 3 Actuators-Reference-Cited by-同舟云学术

Mobility and Direct Kinematics of Parallel Manipulators RSS Type - 3 Actuators

Published:2010-09 Issue: Volume:166-167 Page:197-202
ISSN:1662-9779
Container-title:Solid State Phenomena
language:
Short-container-title:SSP

Author:

Filip Viviana¹,Antonescu Ovidiu²

Affiliation:

1. Valahia University of Targoviste

2. Politehnica University of Bucharest

Abstract

The parallel manipulators are multi-mobile planar or spatial mechanisms with two to six kinematical chains that connect two rigid bodies, generically named platforms. The parallel manipulator is a complex topological structure, having the joints of various types. The most frequently utilized joints are: the mono-mobile kinematical pairs (revolute R or prismatic), the bi-mobile cylindrical pairs C and the tri-mobile spherical pairs S. One of the most important problems in parallel manipulators kinematics is finding the solution of direct kinematics. The paper presents a new way for the calculation of mobility and a new method for the direct kinematics of parallel manipulators RSS type, which are driven by three actuators.

Publisher

Trans Tech Publications, Ltd.

Subject

Condensed Matter Physics,General Materials Science,Atomic and Molecular Physics, and Optics

Link

https://www.scientific.net/SSP.166-167.197.pdf

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