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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Vakil, Mohammad Pendar, Hodjat Zohoor, Hassan |
| Copyright Year | 2005 |
| Abstract | In this article kinematic analysis of a 3 Leg-Spherically Actuated (3SA) parallel manipulator will be addressed. Since each leg has a spherical actuator (three inputs for each leg) and manipulator has three legs; totally, there are nine inputs. Due to the fact that the manipulator has six degree of freedom, only six independent inputs are needed. Thus actuation could be done in different ways. If the triangles representing base and platform are equilateral, there are twenty different ways of actuation that should be studied during forward kinematic analysis. Rather than adopting the standard Denavit-Hartenberg approach, a simple method for forward kinematic analysis for all these different ways of twenty ways has been introduced. Considering all these ways, it will be shown that at least two and at most six nonlinear algebraic equations should be solved during forward kinematic analysis, while choosing the standard approach twelve nonlinear equations should be solved for each way of actuation. A unique inverse kinematic method has been presented. The singularly analysis for all these different ways of actuation has also been studied. For two out of the twenty different ways, closed form solutions for the singularity analysis have been obtained, for other ways; conditions which result in singularity configuration has been presented and simulation justified the proposed criteria. |
| Sponsorship | Design Engineering Division and Computers and Information in Engineering Division |
| Starting Page | 785 |
| Ending Page | 792 |
| Page Count | 8 |
| File Format | |
| ISBN | 0791847446 |
| DOI | 10.1115/DETC2005-84551 |
| e-ISBN | 0791837661 |
| Volume Number | Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B |
| Conference Proceedings | ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2005-09-24 |
| Publisher Place | Long Beach, California, USA |
| Access Restriction | Subscribed |
| Subject Keyword | Parallel mechanism Singularity points Forward kinematics Inverse kinematics Actuators Degrees of freedom Nonlinear equations Parallel mechanisms Algebra Simulation Kinematics Manipulators Kinematic analysis |
| Content Type | Text |
| Resource Type | Article |
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