Forward kinematics analysis of the new 3-CCC parallel mechanism

被引：6
|
作者：
Gan, Dongming [1 ]
Liao, Qizheng [1 ]
Wei, Shimin [1 ]
机构：
[1] Beijing Univ Posts & Telecommun, Automat Sch, Beijing 100876, Peoples R China
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS | 2007年
关键词：
general Stewart platform; cylinder; kinematics analysis;
D O I：
10.1109/ICMA.2007.4303666
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new parallel mechanism 3-CCC which has distance and angle constraints is described in this paper. A closed-form solution to the forward displacement analysis of it is presented. Sylvester resultant is used with the angle equations and three distance equations are treated with by replacing the variables, from which 64 different locations of the platform can be derived, numerical example confirms these theoretical results. Velocity and acceleration equations and Jacobean matrix are obtained by taking the derivative of the constraint equations.
引用
收藏
页码：905 / 910
页数：6
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