Forward position analysis of 6-3 Linapod parallel manipulators |
| |
Authors: | C H Liu Kuan-Chih Huang Yin-Tien Wang |
| |
Institution: | (1) Department of Mechanical and Electro-Mechanical Engineering, Tamkang University, New Taipei City, 251, Tamsui District, Taiwan |
| |
Abstract: | In this study closed-form solutions to the forward kinematic problems are obtained for a particular type of six degree-of-freedom
parallel manipulator called 6-3 Linapod. The 6-3 Linapod parallel manipulators have a 6-3 PSS (or PUS) structure, and forward
kinematic solutions are obtained by using the solution procedure for 6-3 SPS (or UPS) manipulators. In this procedure, a 6-3
Linapod is first transformed into its equivalent mechanism, namely an inclined 3RS manipulator, and then the condition that
the three spherical joints on the moving platform form an equilateral triangle leads us to obtain three polynomial equations
in three unknowns. These equations are solved by using Sylvester dialytic elimination method. Each set of real roots corresponds
to a particular configuration of the manipulator. Solutions so obtained are verified by performing inverse position analysis.
A method to identify configurations containing crossed links is presented in this study, which is based on the interpretation
of link crossing as intersection of a link with a triangle, whose vertices are positions of joints on the corresponding links. |
| |
Keywords: | |
本文献已被 SpringerLink 等数据库收录! |
|