Local structurization for the forward kinematics of parallel manipulators using extra sensor data

Author

Han, Kilryong ; Chung, Wankyun ; Youm, Y.

Author_Institution

Sch. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea

Volume

1

fYear

1995

fDate

21-27 May 1995

Firstpage

514

Abstract

This paper presents a new extra sensing approach of local structurization to the forward kinematics of 6-DOF Stewart platform manipulators (SPMs). It is shown that one extra sensor is sufficient for both a 3-3 SPM and a 6-3 SPM to exactly resolve the forward kinematic problem (FKP) of the SPMs in closed form, two for a 6-6 SPM. In previous researches, at least three extra sensors were needed for closed-form resolution of the FKP of a 6-6 SPM. As a basis for the new approach, two concepts, local structurization and mechanism partition, are introduced. The new scheme is described with graphical illustrations and verified through numerical examples. Consequently, the new scheme is suitable to real implementation, because its computation is very efficient

Keywords

manipulator kinematics; 3-3 SPM; 6-3 SPM; 6-6 SPM; 6-DOF Stewart platform manipulators; closed-form resolution; extra sensor data; forward kinematic problem resolution; forward kinematics; local structurization; parallel manipulators; Closed-form solution; Kinematics; Manipulators; Mechanical engineering; Mechanical sensors; Nonlinear equations; Parallel robots; Polynomials; Robot sensing systems; Scanning probe microscopy;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525335

Filename

525335