CLOSED-FORM DIRECT KINEMATICS SOLUTION OF A NEW PARALLEL MINIMANIPULATOR

作     者：TAHMASEBI, F TSAI, LW 

作者机构：Robotics Branch NASA/Goddard Space Flight Center Greenbelt MD 20771 Mechanical Engineering Dept. and Institute for Systems Research University of Maryland College Park MD 20742 

出 版 物：《JOURNAL OF MECHANICAL DESIGN》 (J Mech Des, Trans ASME)

年 卷 期：1994年第116卷第4期

页      面：1141-1147页

核心收录：

学科分类：08[工学] 0802[工学-机械工程] 

主　　题：Polynomials Actuators Stiffness Kinematics Resolution (Optics) Linkages Manufacturing 

摘      要：Closed-form direct kinematics solution of a new three-limbed six-degree-of-freedom minimanipulator is presented. Five-bar linkages and inextensible limbs are used in synthesis of the minimanipulator to improve its positional resolution and stiffness. AN of the minimanipulator actuators are base-mounted. Kinematic inversion is used to reduce the direct kinematics of the minimanipulator to an eighth-degree polynomial in the square of tangent of half-angle between one of the limbs and the moving platform. Hence, the maximum number of assembly configurations for the minimanipulator is sixteen. Furthermore, if is proved that the sixteen solutions are eight pairs of reflected configurations with respect to the plane passing through the lower ends of the three limbs. A numerical example is also presented and the results are verified by an inverse kinematics analysis.