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  1. Journal of Mechanical Science and Technology
  2. Journal of Mechanical Science and Technology : Volume 25
  3. Journal of Mechanical Science and Technology : Volume 25, Issue 1, Supplement,December 2011
  4. Kinematics of a star-triangle planar parallel manipulator
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Journal of Mechanical Science and Technology : Volume 31
Journal of Mechanical Science and Technology : Volume 30
Journal of Mechanical Science and Technology : Volume 29
Journal of Mechanical Science and Technology : Volume 28
Journal of Mechanical Science and Technology : Volume 27
Journal of Mechanical Science and Technology : Volume 26
Journal of Mechanical Science and Technology : Volume 25
Journal of Mechanical Science and Technology : Volume 25, Issue 12, December 2011
Journal of Mechanical Science and Technology : Volume 25, Issue 1, Supplement,December 2011
Kinematics of a star-triangle planar parallel manipulator
Optimal locomotion trajectory for biped robot ‘D$^{2}$’ with knees stretched, heel-contact landings, and toe-off liftoffs
Effect of leading edge boundary layer thickness on dimple flow structure and separation control
A study on method of reducing condensation for total heat exchanger under humid conditions
Transported PDF approach and direct-quadrature method of moment for modeling turbulent piloted jet flames
Journal of Mechanical Science and Technology : Volume 25, Issue 11, November 2011
Journal of Mechanical Science and Technology : Volume 25, Issue 10, October 2011
Journal of Mechanical Science and Technology : Volume 25, Issue 9, September 2011
Journal of Mechanical Science and Technology : Volume 25, Issue 8, August 2011
Journal of Mechanical Science and Technology : Volume 25, Issue 7, July 2011
Journal of Mechanical Science and Technology : Volume 25, Issue 6, June 2011
Journal of Mechanical Science and Technology : Volume 25, Issue 5, May 2011
Journal of Mechanical Science and Technology : Volume 25, Issue 4, April 2011
Journal of Mechanical Science and Technology : Volume 25, Issue 3, March 2011
Journal of Mechanical Science and Technology : Volume 25, Issue 2, February 2011
Journal of Mechanical Science and Technology : Volume 25, Issue 1, January 2011
Journal of Mechanical Science and Technology : Volume 24
Journal of Mechanical Science and Technology : Volume 23
Journal of Mechanical Science and Technology : Volume 22
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Journal of Mechanical Science and Technology : Volume 20
Journal of Mechanical Science and Technology : Volume 19
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Journal of Mechanical Science and Technology : Volume 15
Journal of Mechanical Science and Technology : Volume 14
Journal of Mechanical Science and Technology : Volume 13
Journal of Mechanical Science and Technology : Volume 12
Journal of Mechanical Science and Technology : Volume 11

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Kinematics of a star-triangle planar parallel manipulator

Content Provider Springer Nature Link
Author Zarkandi, Soheil
Copyright Year 2011
Abstract This paper addresses kinematics of a 3 degree-of-freedom (DOF) planar parallel manipulator called Star-Triangle manipulator. The manipulator has good accuracy and a relatively large singularity-free workspace. First, position analysis of the manipulator is implemented indicating that both the inverse and forward position problems of the manipulator have only one solution. Then, velocity and singularity analyses of the manipulator are carried out and its isotropic configurations are identified using two Jacobian matrices. Based on the isotropic conditions, the workspace of manipulator is determined geometrically and it is shown that all points in the workspace are free of singularities. At last, kinematic accuracy of the manipulator is investigated on the workspace through a kinematic conditioning index (KCI).
Starting Page 3223
Ending Page 3230
Page Count 8
File Format PDF
ISSN 1738494X
Journal Journal of Mechanical Science and Technology
Volume Number 25
Issue Number 1
e-ISSN 19763824
Language English
Publisher Korean Society of Mechanical Engineers
Publisher Date 2012-08-25
Publisher Place Heidelberg
Access Restriction One Nation One Subscription (ONOS)
Subject Keyword Planar parallel manipulator Inverse kinematics Forward kinematics Singularity analysis Isotropy Kinematic accuracy Vibration, Dynamical Systems, Control Mechanical Engineering Industrial and Production Engineering
Content Type Text
Resource Type Article
Subject Mechanics of Materials Mechanical Engineering
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