Forward Kinematic Model Resolution of a New Spherical Parallel Manipulator

被引：0
|
作者：
Landiri, Chaima [1 ]
Saafi, Houssem [1 ,2 ]
Mlika, Abdelfattah [1 ]
Laribi, Med Amine [3 ]
机构：
[1] Univ Sousse, Mech Lab Sousse, Sousse, Tunisia
[2] Univ Gafsa, Preparatory Inst Engn Studies Gafsa, Gafsa, Tunisia
[3] Univ Poitiers, Pprime Inst, Dept GMSC, CNRS,ENSMA UPR 3346, Poitiers, France
来源：
ROBOTICS AND MECHATRONICS, ISRM 2024 | 2024年 / 158卷
关键词：
Spherical parallel manipulator; Forward kinematic model; Spherical five-bars mechanism; Accuracy; IMPROVEMENT;
D O I：
10.1007/978-3-031-59888-3_3
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a method for solving the forward kinematic model of a new spherical parallel manipulator is presented. This method is based on applying the cosine law of spherical trigonometry. First, the forward kinematic model of a spherical five-bar mechanism is presented. Then, the method is applied to the entire spherical parallel manipulator. A numerical validation is performed and shows the accuracy of the proposed approach.
引用
收藏
页码：23 / 31
页数：9
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