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Inverse kinematics analysis of 6-RRCRR parallel manipulators Dalvand, Mohsen Moradi, Shirinzadeh, Bijan and Nahavandi, Saeid 2013, Inverse kinematics analysis of 6-RRCRR parallel manipulators, in AIM 2013 : Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, IEEE, Piscataway, N.J., pp. 644-648. Title Inverse kinematics analysis of 6-RRCRR parallel manipulators Author(s) Dalvand, Mohsen Moradi Shirinzadeh, Bijan Nahavandi, Saeid Conference name Advanced Intelligent Mechatronics. IEEE/ASME International Conference (2013 : Wollongong, New South Wales) Conference location Wollongong, New South Wales Conference dates 9-12 Jul. 2013 Title of proceedings AIM 2013 : Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics Editor(s) [Unknown] Publication date 2013 Conference series IEEE/ASME International Conference on Advanced Intelligent Mechatronics Start page 644 End page 648 Total pages 5 Publisher IEEE Place of publication Piscataway, N.J. Summary This paper presents a solution to the inverse kinematics of 6-RRCRR parallel manipulators with orthogonal non-intersecting RR-joint configuration. The inverse kinematics solution of such parallel robots compared with that of parallel robots with orthogonal intersecting RR-joint or universal joint configuration is more complex due to the existence of RR-joint variables. A novel methodology is established to define 6 independent variables of the actuators and 12 dependent RR-joint variables using the pose of the mobile platform with respect to the base frame. The constraint of RR-joints are analysed and the numerical algorithm to obtain joint variables is assessed. The forward kinematics of a 6- RRCRR parallel manipulator is modelled and computational analysis is performed in order to numerically verify the accuracy and effectiveness of the proposed methodology for the inverse kinematics analysis. Numerical results of a trajectory tracking simulation are provided. The results verify high accuracy for the proposed inverse kinematics solution of this special family of parallel micromanipulators. ISBN 9781467353199 9781467353205 Language eng Field of Research 091302 Automation and Control Engineering Socio Economic Objective 970109 Expanding Knowledge in Engineering HERDC Research category E1 Full written paper - refereed Copyright notice ©2013, IEEE Persistent URL http://hdl.handle.net/10536/DRO/DU:30057130 Document type: Conference Paper Collection: Centre for Intelligent Systems Research Related Links Link Description Connect to published version (restricted access) Go to link with your DU access privileges     Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved. Versions Version Filter Type Wed, 23 Oct 2013, 09:56:44 EST Wed, 23 Oct 2013, 13:52:20 EST Wed, 23 Oct 2013, 13:53:43 EST Thu, 31 Oct 2013, 15:24:52 EST Fri, 01 Nov 2013, 08:06:12 EST Fri, 01 Nov 2013, 12:56:23 EST Filtered Full Access Statistics: 7 Abstract Views, 0 File Downloads  -  Detailed Statistics Created: Wed, 23 Oct 2013, 09:56:44 EST

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