Unified kinematic analysis of general planar parallel manipulators

被引:19
作者
Hayes, MJD [1 ]
Zsombor-Murray, PJ
Chen, C
机构
[1] Carleton Univ, Dept Mech & Aerosp Engn, Ottawa, ON K1S 5B6, Canada
[2] McGill Univ, Dept Mech Engn, Montreal, PQ H3A 2A7, Canada
[3] McGill Univ, Ctr Intelligent Machines, Montreal, PQ H3A 2A7, Canada
关键词
D O I
10.1115/1.1767186
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
A kinematic mapping of planar displacements is used to derive generalized constraint equations having the form of ruled quadric surfaces in the image space. The forward kinematic problem for all three-legged, three-degree-of-freedom planar parallel manipulators thus reduces to determining the points of intersection of three of these constraint surfaces, one corresponding to each leg. The inverse kinematic solutions, though trivial, are implicit in the formulation of the constraint surface equations. Herein the forward kinematic solutions of planar parallel robots with arbitrary, mixed leg architecture are exposed completely, and in a unified way, for the first time.
引用
收藏
页码:866 / 874
页数:9
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