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

页码：247 / 251

页数：5