Closed-form solutions for the forward kinematics of a 4-DOFs parallel robot H4

Author

Choi, Hee-Byoung ; Konno, Atsushi ; Uchiyama, Masaru

Author_Institution

Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan

Volume

4

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

3312

Abstract

This paper present closed-form solutions for the forward kinematics of a 4-DOFs parallel robot H4. Many researchers have tried to obtain closed-form solutions of 3-and 6-DOFs parallel robots, i.e., planar, Delta, Stewart platform and Hexapod robots, in a single variable polynomial equation. Indeed, there are just few effort have been devoted in the past to 4-DOFs parallel robot. Therefore, we focus on the forward kinematics of a 4-DOFs parallel robot H4. Solutions of the forward kinematic yields a 16^th degree polynomial in a single variable which indicates that there may be up to 16 different configurations for the travelling plate for a given set of motor´s angle. The results are presented via a numerical example.

Keywords

polynomials; robot kinematics; 4-DOF parallel robot; Hexapod robots; Stewart platform; closed-form solutions; motors angle; parallel robot kinematics; single variable polynomial equation; Closed-form solution; Equations; Kinematics; Orbital robotics; Parallel robots; Polynomials; Robotic assembly;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1249667

Filename

1249667