Title :
Forward position analysis of the Tricept robot based on Single-Opened-Chain
Author :
Feng, Z.Y. ; Zhang, C. ; Yang, T.L.
Author_Institution :
Tianjin Polytech. Univ., Tianjin
Abstract :
A new numerical approach of forward position analysis for the tricept robot based on single-opened-chain is presented. The minimum dimensions position equations of the system, equal to the coupling degree, are derived according to the topological structure characteristics. 8 real forward position solutions of the tricept robot are obtained by a two-dimension search and the search is efficient.
Keywords :
manipulator kinematics; forward position analysis; manipulator kinematic; single-opened-chain; topological structure characteristic; tricept robot; Aerospace industry; Equations; Mobile robots; Orbital robotics; Parallel robots; Petrochemicals; Polynomials; Robot kinematics; Robotic assembly; Service robots; forward position analysis; parallel mechanism; single-opened-chain;
Conference_Titel :
Industrial Technology, 2008. ICIT 2008. IEEE International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4244-1705-6
Electronic_ISBN :
978-1-4244-1706-3
DOI :
10.1109/ICIT.2008.4608499
