Title of article :
Closed form solution for direct kinematics of a 4PUS C 1PS parallel manipulator
Author/Authors :
Abbasnejad، G. نويسنده M.S. degrees , , Daniali، H.M. نويسنده Associate Professor , , Asghar Fathi، A. نويسنده Department of Crop Protection, Faculty of Agriculture, University of Mohaghegh Ardabili, Ardabil, Iran. Asghar Fathi, A.
Issue Information :
دوماهنامه با شماره پیاپی 0 سال 2012
Abstract :
This paper presents the direct kinematics solution of a 4PUS C 1PS parallel manipulator. The
mechanism consists of a fixed base and moving platform connected by five serial chains. The solution of
its direct kinematics yields an eighth-degree polynomial in a single variable, which indicates that there
may be up to eight different configurations for the moving platform for a given set of joint variables. A
numerical example with eight real solutions is included. Therefore, the polynomial is minimal.
Journal title :
Scientia Iranica(Transactions B:Mechanical Engineering)
Journal title :
Scientia Iranica(Transactions B:Mechanical Engineering)
