教師資料查詢 | 類別: 期刊論文 | 教師: 王銀添 Wang Yin-tien (瀏覽個人網頁)

標題:Forward Position Analysis of 6-3 Linapod Parallel Manipulators
學年100
學期2
出版(發表)日期2012/06/01
作品名稱Forward Position Analysis of 6-3 Linapod Parallel Manipulators
作品名稱(其他語言)
著者Liu, C. H.; Huang, Kuan-chih; Wang, Yin-tien
單位淡江大學機械與機電工程學系
出版者Dordrecht: Springer Netherlands
著錄名稱、卷期、頁數Meccanica 47(5), pp.1271–1282
摘要In this study closed-form solutions to the forward kinematic problems are obtained for a particular type of six degree-of-freedom parallel manipulator called 6-3 Linapod. The 6-3 Linapod parallel manipulators have a 6-3 PSS (or PUS) structure, and forward kinematic solutions are obtained by using the solution procedure for 6-3 SPS (or UPS) manipulators. In this procedure, a 6-3 Linapod is first transformed into its equivalent mechanism, namely an inclined 3RS manipulator, and then the condition that the three spherical joints on the moving platform form an equilateral triangle leads us to obtain three polynomial equations in three unknowns. These equations are solved by using Sylvester dialytic elimination method. Each set of real roots corresponds to a particular configuration of the manipulator. Solutions so obtained are verified by performing inverse position analysis. A method to identify configurations containing crossed links is presented in this study, which is based on the interpretation of link crossing as intersection of a link with a triangle, whose vertices are positions of joints on the corresponding links.
關鍵字Linapod; Hexaglide; Hexaslide; Parallel manipulators; Parallel robots; Kinematics of machinery
語言英文
ISSN0025-6455;1572-9648
期刊性質國外
收錄於SCI;EI;
產學合作
通訊作者Liu, C. H.
審稿制度
國別荷蘭
公開徵稿
出版型式電子版;紙本;
相關連結
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