Analytical kinematics models and special geometries of a class of 4-DOF parallel mechanisms

被引：38
|
作者：
Zoppi, M [1 ]
Zlatanov, D
Gosselin, CM
机构：
[1] Univ Genoa, PMAR Lab Robot, Dept Mech & Machine Design, I-16145 Genoa, Italy
[2] Musashi Inst Technol, Dept Mech Syst Engn, Tokyo 1588557, Japan
[3] Univ Laval, Dept Genie Mecan, Quebec City, PQ G1K 7P4, Canada
来源：
IEEE TRANSACTIONS ON ROBOTICS | 2005年 / 21卷 / 06期
关键词：
four-degree-of-freedom (DOF) mechanisms; kinematics; parallel mechanisms (PMs); surgical robot;
D O I：
10.1109/TRO.2005.853494
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The paper discusses forward and inverse kinematics of a class of four-degree-of-freedom (DOF), four-legged parallel mechanisms providing three rotational and one translational DOFs. A fully parametric analytical form solution to the inverse-position problem is provided. All working modes of the mechanism are shown and discussed. The equations of the forward-position problem are obtained under different leg arrangements, and a numerical example is provided. New special geometries in the class are proposed, including one suitable for keyhole surgery.
引用
收藏
页码：1046 / 1055
页数：10
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