Forward kinematics analysis of offset 6-RRCRR parallel manipulators

Dalvand, M.M. and Shirinzadeh, B. 2011, Forward kinematics analysis of offset 6-RRCRR parallel manipulators, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of mechanical engineering science, vol. 225, no. 12, pp. 3011-3018.

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Title Forward kinematics analysis of offset 6-RRCRR parallel manipulators
Author(s) Dalvand, M.M.
Shirinzadeh, B.
Journal name Proceedings of the Institution of Mechanical Engineers, Part C: Journal of mechanical engineering science
Volume number 225
Issue number 12
Start page 3011
End page 3018
Total pages 8
Publisher Sage
Place of publication London, England
Publication date 2011-12
ISSN 0954-4062
Keyword(s) parallel manipulators
forward kinematics
inverse kinematics
kinematic chain
degree of freedom
Summary A methodology for the numerical solution of the forward kinematics problem of 6-RRCRR parallel manipulators with orthogonal non-intersecting RR-joint configuration is presented in this article. The inverse and forward kinematics solutions of such robots compared with that of parallel robots with orthogonal intersecting RR-joint or universal joint configurations are much more complicated due to the existence of dependent joint variables. The constraints of RR-joints are analysed and the numerical algorithm for the forward kinematics solution is assessed. Numerical results for the solution of the forward kinematics of 6-RRCRR parallel robot under study are provided to confirm the accuracy and efficiency of the procedure.
Language eng
Field of Research 091302 Automation and Control Engineering
091304 Dynamics, Vibration and Vibration Control
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1.1 Refereed article in a scholarly journal
Copyright notice ©2011, Sage
Persistent URL http://hdl.handle.net/10536/DRO/DU:30056237

Document type: Journal Article
Collection: Centre for Intelligent Systems Research
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