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

页码：23 / 31

页数：9

共 50 条

[31] A Numerical Approach for the Inverse and Forward Kinematic Analysis of 5R Parallel Manipulator
Sosa-Lopez, Enrique D.
Arias-Montiel, Manuel
Lugo-Gonzalez, Esther
2017 14TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING, COMPUTING SCIENCE AND AUTOMATIC CONTROL (CCE), 2017,
[32] Forward kinematic analysis of the 3-(RP)under-barRS parallel manipulator
Nag, Anirban
Mohan, Santhakumar
Bandyopadhyay, Sandipan
MECHANISM AND MACHINE THEORY, 2017, 116 : 262 - 272
[33] Spherical manipulator with parallel structure
Laryushkin P.A.
Zakharov M.N.
Erastova K.G.
Glazunov V.A.
Russian Engineering Research, 2017, 37 (7) : 585 - 588
[34] Control of a spherical parallel manipulator
Huellmann, Dino
Kohlhoff, Harald
Erdmann, Jessica
Neumann, Patrick P.
MATERIALS TODAY-PROCEEDINGS, 2019, 12 : 423 - 430
[35] Kinematic calibration of a Cartesian Parallel Manipulator
Kim, HS
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2005, 3 (03) : 453 - 460
[36] KINEMATIC ANALYSIS OF TRICEPT PARALLEL MANIPULATOR
Hosseini, Mir Amin
Daniali, Hamid-Reza Mohammadai
IIUM ENGINEERING JOURNAL, 2011, 12 (05): : 7 - 16
[37] A novel approach for forward position analysis of a double-triangle spherical parallel manipulator
Enferadi, Javad
Tootoonchi, Alireza Akbarzadeh
EUROPEAN JOURNAL OF MECHANICS A-SOLIDS, 2010, 29 (03) : 348 - 355
[38] A novel spherical parallel manipulator: forward position problem, singularity analysis, and isotropy design
Enferadi, Javad
Tootoonchi, Afireza Akbarzadeh
ROBOTICA, 2009, 27 : 663 - 676
[39] Multiobjective Optimum Design of a 3-RRR Spherical Parallel Manipulator with Kinematic and Dynamic Dexterities
Wu, Guanglei
MODELING IDENTIFICATION AND CONTROL, 2012, 33 (03) : 111 - 122
[40] Kinematic analysis of a new 3-DOF translational parallel manipulator
Li, Yangmin
Xu, Qingsong
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, VOL 6, PTS A-C, 2005, : 1015 - 1024

← 1 2 3 4 5 →