Forward kinematics for Hunt-Primose parallel manipulators

被引：20
作者：
Bruyninckx, H [1 ]
机构：
[1] Katholieke Univ Leuven, Dept Mech Engn, B-3001 Heverlee, Belgium
来源：
MECHANISM AND MACHINE THEORY | 1999年 / 34卷 / 04期
关键词：
D O I：
10.1016/S0094-114X(98)00010-X
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper gives closed-form solutions (requiring linear and quadratic equations only) for the forward displacement and velocity kinematics of two parallel kinematic chain designs presented by Hunt and Primrose in 1993, [4]. The solutions rely on a simple geometric algorithm that finds the top of a tetrahedron if the base triangle and the lengths of all of its sides are known. The forward kinematics has eight configurations. (C) 1998 Elsevier Science Ltd. All rights reserved.
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页码：657 / 664
页数：8
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