Title :
Kinematics Analysis of a 3-dof Rotational Parallel Mechanism
Author :
Dai Xiaolin ; Huang Qitao ; Jiang Hongzhou ; Junwei, H.
Author_Institution :
Sch. of Mechatron. Eng., Harbin Inst. of Technol., Harbin
Abstract :
A 3-dof rotational parallel mechanism is presented which has three struts and three actuators and is a plasmodium of the Stewart platforms. The kinematics of this robot is derived, and the kinematics analysis is investigated based on analytical solution of the inverse kinematics and numerical solution of the forward kinematics. This mechanism is popular in the fields of simulators and parallel kinematics machines.
Keywords :
inverse problems; matrix algebra; robot kinematics; 3-dof rotational parallel mechanism; Stewart platform plasmodium; actuators; forward kinematics; inverse kinematics; parallel kinematics machines; robot kinematics analysis; rotation matrix; struts; Actuators; Analytical models; Automatic testing; Equations; Mechatronics; Parallel robots; Robot kinematics; System testing; Virtual manufacturing; Weapons;
Conference_Titel :
Modelling, Simulation and Optimization, 2008. WMSO '08. International Workshop on
Conference_Location :
Hong Kong
Print_ISBN :
978-0-7695-3484-8
DOI :
10.1109/WMSO.2008.73
