Hostname: page-component-78c5997874-v9fdk Total loading time: 0 Render date: 2024-11-10T15:09:22.524Z Has data issue: false hasContentIssue false
  • English
  • Français

A new closed-form kinematics of the generalized 3-DOF spherical parallel manipulator

Published online by Cambridge University Press:  01 September 1999

Zhen Huang  and
Y. Lawrence Yao
Zhen Huang
Affiliation:
Department of Mechanical Engineering, Columbia University, 220 S. W. Mudd Bldg. New York, NY 10027 (USA) yly1@columbia.edu
Y. Lawrence Yao
Affiliation:
Department of Mechanical Engineering, Columbia University, 220 S. W. Mudd Bldg. New York, NY 10027 (USA) yly1@columbia.edu
Get access Rights & Permissions [Opens in a new window]

Abstract

This paper presents a new method to analyze the closed-form kinematics of a generalized three-degree-of-a-freedom spherical parallel manipulator. Using this analytical method, concise and uniform solutions are achieved. Two special forms of the three-degree-of-freedom spherical parallel manipulator, i.e. right-angle type and a decoupled type, are also studied and their unique and interesting properties are investigated, followed by a numerical example.

Keywords

Closed-form kinematicsSpherical parallel manipulator3-DOFTwo types
Type
Research Article
Information
Robotica , Volume 17 , Issue 5 , September 1999 , pp. 475 - 485
Copyright
© 1999 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)