ON THE DIRECT KINEMATICS OF SPHERICAL 3-DEGREE-OF-FREEDOM PARALLEL MANIPULATORS OF GENERAL ARCHITECTURE

被引：97
|
作者：
GOSSELIN, CM
SEFRIOUI, J
RICHARD, MJ
机构：
[1] Département de Génie Mécanique, Université Laval, Ste-Foy, QC
来源：
JOURNAL OF MECHANICAL DESIGN | 1994年 / 116卷 / 02期
关键词：
D O I：
10.1115/1.2919419
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper, the direct kinematics of general spherical parallel three-degree-of-freedom manipulators is investigated. A polynomial of degree 8 is obtained to describe this problem and it is shown that this polynomial is minimal since 8 real solutions corresponding to actual configurations have been found for a given set of actuator coordinates and a given architecture. This result completes the study on the direct kinematics of spherical three-degree-of-freedom parallel manipulators undertaken by the authors in a previous paper. An example of an architecture and a set of actuator coordinates which lead to 8 real solutions is presented to illustrate the results.
引用
收藏
页码：594 / 598
页数：5
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