Title :
Kinematics Analysis of Certain Novel 3-Dof Parallel Manipulator
Author :
Qu, Zhiyong ; Ye, Zhengmao
Author_Institution :
Sch. of Mechatron. Eng., Harbin Inst. of Technol., Harbin, China
Abstract :
3-dof parallel mechanism is a variant of the typical Stewart platform, which used three drivers and threes struts instead the six drives of the Stewart platform. In this paper, the length constraint equations of three struts is established and the analytical solution of the inverse kinematics is derived, and the forward kinematics solution of the rotational parallel mechanism is presented based the typical method of the Stewart platform. This kinematics analysis affords great help for the design and control strategy of 3-dof parallel manipulator in the future.
Keywords :
manipulator kinematics; 3-Dof parallel manipulator; Stewart platform; kinematics analysis; rotational parallel mechanism; Equations; Kinematics; Manipulators; Mechatronics; Parallel machines; Roads; Testing;
Conference_Titel :
Circuits, Communications and System (PACCS), 2011 Third Pacific-Asia Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4577-0855-8
DOI :
10.1109/PACCS.2011.5990215
