Position analysis of a 3-DOF parallel manipulator

被引：67
|
作者：
Dunlop, GR
Jones, TP
机构：
[1] Department of Mechanical Engineering, University of Canterbury
来源：
MECHANISM AND MACHINE THEORY | 1997年 / 32卷 / 08期
关键词：
D O I：
10.1016/S0094-114X(97)00011-6
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The forward and inverse kinematics of a 3-DOF parallel mechanism for beam aiming applications is derived in closed form. The mechanism has three actuated arms attached to a base via revolute joints. Another three arms are also attached to an upper platform via passive revolute joints. Each of the three base arms is connected to its respective opposing passive arm via a spherical joint. The platform has three degrees of freedom with respect to the base, two rotational and one radial motion. (C) 1997 Elsevier Science Ltd.
引用
收藏
页码：903 / 920
页数：18
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