Abstract
This paper presents a novel pose description corresponding to the structure characteristics of parallel manipulators which is convenient and intuitionistic to us. A class of 3-RSR parallel manipulator is considered here. Through analysis on geometry, we obtain a new method of the closed-form solution to the forward kinematics via Mathematica. The closed-form solution contains two different meanings - analytical and real-time. A numerical example is also presented and the results are verified by an inverse kinematics analysis. It shows that the method has a practical value for real-time control.
| Original language | English |
|---|---|
| Pages (from-to) | 194-195 |
| Number of pages | 2 |
| Journal | Jixie Kexue Yu Jishu/Mechanical Science and Technology |
| Volume | 20 |
| Issue number | 2 |
| Publication status | Published - Mar 2001 |
| Externally published | Yes |
Keywords
- Closed-form solution
- Direct kinematics
- Parallel manipulator
- Pose description