A new closed-form kinematics of the generalized 3-DOF spherical parallel manipulator

被引：27

作者：

Huang, Z ^{[1
]}

Yao, YL ^{[1
]}

机构：

[1] Columbia Univ, Dept Mech Engn, New York, NY 10027 USA

来源：

ROBOTICA | 1999年 / 17卷

关键词：

closed-form kinematics; spherical parallel manipulator; 3-DOF; two types;

D O I：

10.1017/S0263574799001630

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents a new method to analyze the closed form kinematics of a generalized three-degree-of-a-freedom spherical parallel manipulator. Using this analytical method, concise and uniform solutions are achieved. Two special forms of the three-degree-of-freedom spherical parallel manipulator, i.e. right-angle type and a decoupled type, are also studied and their unique and interesting properties are investigated, followed by a numerical example.

引用

页码：475 / 485

页数：11

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