Analytical kinematics models and special geometries of a class of 4-DOF parallel mechanisms

被引：39

作者：

Zoppi, M ^{[1
]}

Zlatanov, D

Gosselin, CM

机构：

[1] Univ Genoa, PMAR Lab Robot, Dept Mech & Machine Design, I-16145 Genoa, Italy

[2] Musashi Inst Technol, Dept Mech Syst Engn, Tokyo 1588557, Japan

[3] Univ Laval, Dept Genie Mecan, Quebec City, PQ G1K 7P4, Canada

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2005年 / 21卷 / 06期

关键词：

four-degree-of-freedom (DOF) mechanisms; kinematics; parallel mechanisms (PMs); surgical robot;

D O I：

10.1109/TRO.2005.853494

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The paper discusses forward and inverse kinematics of a class of four-degree-of-freedom (DOF), four-legged parallel mechanisms providing three rotational and one translational DOFs. A fully parametric analytical form solution to the inverse-position problem is provided. All working modes of the mechanism are shown and discussed. The equations of the forward-position problem are obtained under different leg arrangements, and a numerical example is provided. New special geometries in the class are proposed, including one suitable for keyhole surgery.

引用

页码：1046 / 1055

页数：10

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