Direct kinematics of 3DOF planar parallel mechanisms: A discussion
MetadataShow full item record
This paper presents the direct kinematic solutions of 3DOF planar parallel mechanisms, specifically of the 3RRR mechanism. The direct kinematic problem of the mechanism generally results in a polynomial solution. To obtain an analytical (closed-form) solution, it is necessary for the polynomial to be of degree 4 or less. This paper presents a special configuration that reduces the polynomial solution to a 4th degree. This special configuration further decouples the direct kinematics of the position and the orientation of the end-effector into two cascaded quadratic equations. Numerical example is carried out to verify the results of this simplification. The existence of the closed-form solution would increase the accuracy of the direct kinematic solution and improves computational efficiency as numerical iterative method is not required. This result provides an efficient computational method for a very useful configuration of planar parallel manipulators.
Showing items related by title, author, creator and subject.
Granular vortices: Identification, characterization and conditions for the localization of deformationTordesillas, A.; Pucilowski, S.; Lin, Qun; Peters, J.; Behringer, R. (2016)We relate the micromechanics of vortex evolution to that of force chain buckling and, on this basis, formulate the conditions for strain localization in a continuum model of dense granular media. Using the traditional ...
Lumbar MRI abnormalities and muscle morphology, trunk kinematics and lower back injury in professional fast bowlers in cricketRanson, Craig A (2007)Lower back injury remains the most important injury problem in professional cricket with lumbar stress fractures in fast bowlers accounting for the most lost playing time. Previous research has associated workload, ...
An analysis of posture, muscle activity and keyboard dynamics in computer users with and without work-related neck and upper limb disordersSzeto, Pui Yuk Grace (2003)Computer technology has advanced rapidly in the past few decades and computers have become a very important and powerful tool in our everyday lives. Prolonged computer use by office workers has been reported to result in ...