A FORWARD AND REVERSE DISPLACEMENT ANALYSIS OF A 6-DOF IN-PARALLEL MANIPULATOR

被引：60
|
作者：
ALIZADE, RI [1 ]
TAGIYEV, NR [1 ]
DUFFY, J [1 ]
机构：
[1] UNIV FLORIDA,DEPT MECH ENGN,CTR INTELLIGENT MACHINES & ROBOT,GAINESVILLE,FL 32611
来源：
MECHANISM AND MACHINE THEORY | 1994年 / 29卷 / 01期
关键词：
Kinematics;
D O I：
10.1016/0094-114X(94)90024-8
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A kinematic analysis of a 6 degree of freedom (DOF) parallel manipulator which has three legs, mounted on moving sliders is described. Therefore, the 6 DOF are provided by the slider displacements and by changing the leg lengths. This manipulator structure provides a large functional workspace. A forward displacement analysis is performed by using a decomposition method and reduces to the one non-linear equation solution by using an interaction method. Two distinct reverse displacement analyses are given. A manipulator workspace determination and a method for the specification of the platform position in space.
引用
收藏
页码：115 / 124
页数：10
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