Forward kinematics solutions of a special six-degree-of-freedom parallel manipulator with three limbs
This article presents a special 6-degree-of freedom parallel manipulator, and the mechanical structure of this robot has been introduced; with this structure, the kinematic constrain equations are decoupled. Based on this character, the polynomial solutions of the forward kinematics problem are also...
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2015-05-01
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Series: | Advances in Mechanical Engineering |
Online Access: | https://doi.org/10.1177/1687814015582118 |
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doaj-2262e7a452184e13be8944f4b953e6cd2020-11-25T02:52:40ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402015-05-01710.1177/168781401558211810.1177_1687814015582118Forward kinematics solutions of a special six-degree-of-freedom parallel manipulator with three limbsJianxun FuFeng GaoYang PanHui DuThis article presents a special 6-degree-of freedom parallel manipulator, and the mechanical structure of this robot has been introduced; with this structure, the kinematic constrain equations are decoupled. Based on this character, the polynomial solutions of the forward kinematics problem are also presented. In this method, the closed-loop kinematic chain of the manipulator is divided into two parts, the solution forward position kinematics is obtained by a first-degree polynomial equation first, and then an eighth-degree polynomial equation in a single variable for the forward orientation kinematics is obtained. Based on those solutions, the configurations of the robot, including position and orientation of the end-effector, are graphically displayed. A numerical simulation is given to verify the algorithm, and the result implies that for a given set of input values, the manipulator can be assembled in eight different configurations at most. And a set of experiments illustrate the motion ability for forward kinematics of the prototype of this manipulator.https://doi.org/10.1177/1687814015582118 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Jianxun Fu Feng Gao Yang Pan Hui Du |
spellingShingle |
Jianxun Fu Feng Gao Yang Pan Hui Du Forward kinematics solutions of a special six-degree-of-freedom parallel manipulator with three limbs Advances in Mechanical Engineering |
author_facet |
Jianxun Fu Feng Gao Yang Pan Hui Du |
author_sort |
Jianxun Fu |
title |
Forward kinematics solutions of a special six-degree-of-freedom parallel manipulator with three limbs |
title_short |
Forward kinematics solutions of a special six-degree-of-freedom parallel manipulator with three limbs |
title_full |
Forward kinematics solutions of a special six-degree-of-freedom parallel manipulator with three limbs |
title_fullStr |
Forward kinematics solutions of a special six-degree-of-freedom parallel manipulator with three limbs |
title_full_unstemmed |
Forward kinematics solutions of a special six-degree-of-freedom parallel manipulator with three limbs |
title_sort |
forward kinematics solutions of a special six-degree-of-freedom parallel manipulator with three limbs |
publisher |
SAGE Publishing |
series |
Advances in Mechanical Engineering |
issn |
1687-8140 |
publishDate |
2015-05-01 |
description |
This article presents a special 6-degree-of freedom parallel manipulator, and the mechanical structure of this robot has been introduced; with this structure, the kinematic constrain equations are decoupled. Based on this character, the polynomial solutions of the forward kinematics problem are also presented. In this method, the closed-loop kinematic chain of the manipulator is divided into two parts, the solution forward position kinematics is obtained by a first-degree polynomial equation first, and then an eighth-degree polynomial equation in a single variable for the forward orientation kinematics is obtained. Based on those solutions, the configurations of the robot, including position and orientation of the end-effector, are graphically displayed. A numerical simulation is given to verify the algorithm, and the result implies that for a given set of input values, the manipulator can be assembled in eight different configurations at most. And a set of experiments illustrate the motion ability for forward kinematics of the prototype of this manipulator. |
url |
https://doi.org/10.1177/1687814015582118 |
work_keys_str_mv |
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