Forward Position Kinematics of a Parallel Manipulator with New Architecture
عنوان مقاله: Forward Position Kinematics of a Parallel Manipulator with New Architecture
شناسه ملی مقاله: JR_IJE-14-3_007
منتشر شده در در سال 1380
شناسه ملی مقاله: JR_IJE-14-3_007
منتشر شده در در سال 1380
مشخصات نویسندگان مقاله:
M. Ogbaei - , Isfahan University of Technology
A. Fattah - , Isfahan University of Technology
خلاصه مقاله:
M. Ogbaei - , Isfahan University of Technology
A. Fattah - , Isfahan University of Technology
The forward position kinematics (FPK) of a parallel manipulator with new architecture supposed to be used as a moving mechanism in a flight simulator project is discussed in this paper. The closed form solution for the FPK problem of the manipulator is first determined. It has, then, been shown that there are at most ۲۴ solutions for FPK problem. This result has been verified by using other techniques such as geometric approach and a numerical method known as polynomial continuation. Numerical examples are performed to display all possible solutions available for the devised manipulator.
کلمات کلیدی: Parallel Manipulator, Robot Kinematics, Closed Form Solution, Polynomial Continuation
صفحه اختصاصی مقاله و دریافت فایل کامل: https://civilica.com/doc/1415644/