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    Direct kinematics of 3DOF planar parallel mechanisms: A discussion

    Access Status
    Fulltext not available
    Authors
    Oetomo, D.
    Liaw, H.
    Alici, G.
    Shirinzadeh, B.
    Zhong, Yongmin
    Date
    2006
    Type
    Conference Paper
    
    Metadata
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    Citation
    Oetomo, Denny and Liaw, Hwee Choo and Alici, Gursel and Shirinzadeh, Bijian and Zhong, Yongmin. 2006. Direct kinematics of 3DOF planar parallel mechanisms: A discussion, in Billingsley, J. (ed), The 13th Annual Conference on Mechatronics and Machine Vision in Practice, Dec 5-7 2006. Toowoomba, QLD: Curran Associates.
    Source Title
    Proceedings of the 13th Annual Conference on Mechatronics and Machine Vision in Practice
    Source Conference
    The 13th Annual Conference on Mechatronics and Machine Vision in Practice
    ISBN
    9781605600871
    URI
    http://hdl.handle.net/20.500.11937/24379
    Collection
    • Curtin Research Publications
    Abstract

    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.

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