Forward Position Analysis of 6-3 Linapod Parallel Manipulators
學年 100
學期 2
出版（發表）日期 2012-06-01
作品名稱 Forward Position Analysis of 6-3 Linapod Parallel Manipulators
作品名稱（其他語言）
著者 Liu, C. H.; Huang, Kuan-chih; Wang, Yin-tien
單位 淡江大學機械與機電工程學系
出版者 Dordrecht: Springer Netherlands
著錄名稱、卷期、頁數 Meccanica 47(5), p.1271–1282
摘要 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.
關鍵字 Linapod;Hexaglide;Hexaslide;Parallel manipulators;Parallel robots;Kinematics of machinery
語言 en
ISSN 0025-6455; 1572-9648
期刊性質 國外
收錄於 SCI EI
產學合作
通訊作者 Liu, C. H.
審稿制度 否
國別 NLD
公開徵稿
出版型式 ,電子版,紙本
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/76510 )

機構典藏連結