Mobility and Direct Kinematics of Parallel Manipulators RSS Type - 3 Actuators

Abstract:

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The parallel manipulators are multi-mobile planar or spatial mechanisms with two to six kinematical chains that connect two rigid bodies, generically named platforms. The parallel manipulator is a complex topological structure, having the joints of various types. The most frequently utilized joints are: the mono-mobile kinematical pairs (revolute R or prismatic), the bi-mobile cylindrical pairs C and the tri-mobile spherical pairs S. One of the most important problems in parallel manipulators kinematics is finding the solution of direct kinematics. The paper presents a new way for the calculation of mobility and a new method for the direct kinematics of parallel manipulators RSS type, which are driven by three actuators.

Info:

Periodical:

Solid State Phenomena (Volumes 166-167)

Edited by:

Cornel Brișan, Vistrian Mătieș, Sergiu-Dan Stan and Stelian Brad

Pages:

197-202

DOI:

10.4028/www.scientific.net/SSP.166-167.197

Citation:

V. Filip and O. Antonescu, "Mobility and Direct Kinematics of Parallel Manipulators RSS Type - 3 Actuators ", Solid State Phenomena, Vols. 166-167, pp. 197-202, 2010

Online since:

September 2010

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Price:

$35.00

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