Inverse kinematic analysis for triple-octahedron variable-geometry truss manipulators

被引：10
|
作者：
Xu, LJ
Tian, GY [1 ]
Duan, Y
Yang, SX
机构：
[1] Univ Huddersfield, Sch Engn, Huddersfield HD1 3DH, W Yorkshire, England
[2] Sichuan Univ, Sch Mfg Engn, Chengdu 610064, Peoples R China
来源：
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2001年 / 215卷 / 02期
关键词：
inverse kinematics; triple-octahedron variable-geometry truss manipulator; closed-form solution; robot manipulator;
D O I：
10.1243/0954406011520571
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper, a new triple-octahedron variable-geometry truss manipulator is presented. Its inverse kinematic solutions in closed form are studied. An input-output displacement equation in one output variable is derived. The solution procedure is given in detail. A numerical example is illustrated.
引用
收藏
页码：247 / 251
页数：5
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