A planar quaternion approach to the kinematic synthesis of a parallel manipulator
| Autor: | Pierre Dauchez, Andrew P. Murray, J. Michael McCarthy, François Pierrot |
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| Rok vydání: | 1997 |
| Předmět: |
Discretization
Computer Science::Information Retrieval General Mathematics Parallel manipulator Workspace Kinematics Base (topology) Computer Science Applications law.invention Computer Science::Robotics Quadratic equation Control and Systems Engineering law Control theory Quaternion Manifold (fluid mechanics) Software Mathematics |
| Zdroj: | Robotica. 15:361-365 |
| ISSN: | 1469-8668 0263-5747 |
| DOI: | 10.1017/s0263574797000441 |
| Popis: | In this paper we present a technique for designing planar parallel manipulators with platforms capable of reaching any number of desired poses. The manipulator consists of a platform connected to ground by RPR chains. The set of positions and orientations available to the end-effector of a general RPR chain is mapped into the space of planar quaternions to obtain a quadratic manifold. The coefficients of this constraint manifold are functions of the locations of the base and platform R joints and the distance between them. Evaluating the constraint manifold at each desired pose and defining the limits on the extension of the P joint yields a set of equations. Solutions of these equations determine chains that contain the desired poses as part of their workspaces. Parallel manipulators that can reach the prescribed workspace are assembled from these chains. An example shows the determination of three RPR chains that form a manipulator able to reach a prescribed workspace. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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