DocumentCode
2188727
Title
Direct kinematics of planar parallel manipulators
Author
Merlet, Jean-Pierre
Author_Institution
Inst. Nat. de Recherche en Inf. et Autom., Sophia-Antipolis, France
Volume
4
fYear
1996
fDate
22-28 Apr 1996
Firstpage
3744
Abstract
We address the problem of finding all the solutions of the direct kinematics for every possible architectures of planar fully parallel manipulators. We show that for this problem all the possible kinematic chains can be reduced to a set of three basic chains and we explain how to calculate the solutions of the forward kinematics for all the combinations of these basic chains and consequently for all the possible architectures of planar parallel robots
Keywords
manipulator kinematics; direct kinematics; forward kinematics; kinematic chains; planar parallel manipulators; Actuators; Bismuth; Business process re-engineering; Kinematics; Manipulators; Parallel robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.509284
Filename
509284
Link To Document