| Autor: |
Dalvand, M M, Shirinzadeh, B |
| Předmět: |
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| Zdroj: |
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science (Sage Publications, Ltd.); 12/01/2011, Vol. 225 Issue 12, p3011-3018, 8p |
| Abstrakt: |
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. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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