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dc.contributor.authorOetomo, D.
dc.contributor.authorLiaw, H.
dc.contributor.authorAlici, G.
dc.contributor.authorShirinzadeh, B.
dc.contributor.authorZhong, Yongmin
dc.contributor.editorBillingsley, John, ed.
dc.date.accessioned2017-01-30T12:42:36Z
dc.date.available2017-01-30T12:42:36Z
dc.date.created2012-12-03T07:24:56Z
dc.date.issued2006
dc.identifier.citationOetomo, 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.
dc.identifier.urihttp://hdl.handle.net/20.500.11937/24379
dc.description.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.

dc.publisherCurran Associates
dc.titleDirect kinematics of 3DOF planar parallel mechanisms: A discussion
dc.typeConference Paper
dcterms.source.titleProceedings of the 13th Annual Conference on Mechatronics and Machine Vision in Practice
dcterms.source.seriesProceedings of the 13th Annual Conference on Mechatronics and Machine Vision in Practice
dcterms.source.isbn9781605600871
dcterms.source.conferenceThe 13th Annual Conference on Mechatronics and Machine Vision in Practice
dcterms.source.conference-start-dateDec 5 2006
dcterms.source.conferencelocationToowoomba QLD
dcterms.source.placeQLD
curtin.department
curtin.accessStatusFulltext not available


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