關鍵字查詢 | 類別:期刊論文 | | 關鍵字:Forward Position Analysis of 6-3 Linapod Parallel Manipulators

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序號 學年期 教師動態
1 100/2 機電系 王銀添 教授 期刊論文 發佈 Forward Position Analysis of 6-3 Linapod Parallel Manipulators , [100-2] :Forward Position Analysis of 6-3 Linapod Parallel Manipulators期刊論文Forward Position Analysis of 6-3 Linapod Parallel ManipulatorsLiu, C. H.; Huang, Kuan-chih; Wang, Yin-tien淡江大學機械與機電工程學系Linapod; Hexaglide; Hexaslide; Parallel manipulators; Parallel robots; Kinematics of machineryDordrecht: Springer NetherlandsMeccanica 47(5), pp.1271–1282In 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 equati
2 100/2 機電系 劉昭華 教授 期刊論文 發佈 Forward Position Analysis of 6-3 Linapod Parallel Manipulators , [100-2] :Forward Position Analysis of 6-3 Linapod Parallel Manipulators期刊論文Forward Position Analysis of 6-3 Linapod Parallel ManipulatorsLiu, C. H.; Huang, Kuan-chih; Wang, Yin-tien淡江大學機械與機電工程學系Linapod; Hexaglide; Hexaslide; Parallel manipulators; Parallel robots; Kinematics of machineryDordrecht: Springer NetherlandsMeccanica 47(5), pp.1271–1282In 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 equati
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