Unified Kinematic Analysis of General Planar Parallel Manipulators-Reference-Cited by-同舟云学术

Unified Kinematic Analysis of General Planar Parallel Manipulators

Published:2004-09-01 Issue:5 Volume:126 Page:866-874
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Hayes M. J. D.¹,Zsombor-Murray P. J.²,Chen C.²

Affiliation:

1. Carleton University, Department of Mechanical & Aerospace Engineering, Ottawa, Ontario, K1S 5B6, Canada

2. McGill University, Dep’t. of Mech. Eng. & Center for Intelligent Machines, Montre´al, Que´bec, H3A 2A7, Canada

Abstract

A kinematic mapping of planar displacements is used to derive generalized constraint equations having the form of ruled quadric surfaces in the image space. The forward kinematic problem for all three-legged, three-degree-of-freedom planar parallel manipulators thus reduces to determining the points of intersection of three of these constraint surfaces, one corresponding to each leg. The inverse kinematic solutions, though trivial, are implicit in the formulation of the constraint surface equations. Herein the forward kinematic solutions of planar parallel robots with arbitrary, mixed leg architecture are exposed completely, and in a unified way, for the first time.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/126/5/866/5921425/866_1.pdf

Reference26 articles.

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