Forward Displacement Analysis of a Parallel Manipulator

被引：1
|
作者：
Huang Xiguang [1 ]
机构：
[1] N China Univ Technol, Beijing, Peoples R China
来源：
HIGH PERFORMANCE STRUCTURES AND MATERIALS ENGINEERING, PTS 1 AND 2 | 2011年 / 217-218卷
关键词：
Robot; Algebraic method; Mechanism; STEWART PLATFORMS;
D O I：
10.4028/www.scientific.net/AMR.217-218.1061
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A new algebraic method for the solution of the forward displacement analysis of a parallel manipulator is presented in this paper. Based on the algebraic method, the problem of the forward displacement problem is reduced to a polynomial equation in a single unknown from a constructed matrix which is relative small in the size. From the univariate equation, all closed-form solutions of the different locations of the mechanism can be derived.
引用
收藏
页码：1061 / 1065
页数：5
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