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Closed form solution for direct kinematics of a 4PUS C 1PS parallel manipulator
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نویسنده
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Abbasnejad G. ,Daniali H.M. ,Fathi A.
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منبع
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scientia iranica - 2012 - دوره : 19 - شماره : 2-B - صفحه:320 -326
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چکیده
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This paper presents the direct kinematics solution of a 4pus c 1ps parallel manipulator. themechanism consists of a fixed base and moving platform connected by five serial chains. the solution ofits direct kinematics yields an eighth-degree polynomial in a single variable, which indicates that theremay be up to eight different configurations for the moving platform for a given set of joint variables. anumerical example with eight real solutions is included. therefore, the polynomial is minimal.
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کلیدواژه
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Parallel manipulator;Direct kinematics;Closed form
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آدرس
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babol noshirvani university of technology, M S degrees, ایران, babol noshirvani university of technology, Associate Professor, ایران, babol noshirvani university of technology, Assistant Professor, ایران
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Authors
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