A new closed-form kinematics of the generalized 3-DOF spherical parallel manipulator
A new closed-form kinematics of the generalized 3-DOF spherical parallel manipulator
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DOI：
10.1017/s0263574799001630
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发表时间：
1999-09
期刊：
影响因子：
2.7
通讯作者：
Zhen Huang;Y. Yao
中科院分区：
文献类型：
--
作者：
Zhen Huang;Y. Yao
本文提出了一种分析广义三自由度球形并联机械臂闭式运动学的新方法。使用这种分析方法，可以获得简洁且统一的解决方案。还研究了三自由度球面并联机构的两种特殊形式，即直角型和解耦型，研究了它们独特而有趣的性质，并给出了数值例子。
This paper presents a new method to analyze the closed-form kinematics of a generalized three-degree-of-a-freedom spherical parallel manipulator. Using this analytical method, concise and uniform solutions are achieved. Two special forms of the three-degree-of-freedom spherical parallel manipulator, i.e. right-angle type and a decoupled type, are also studied and their unique and interesting properties are investigated, followed by a numerical example.