A Novel Spatial Four DOF Parallel Mechanism and Its Position Analysis
A Novel Spatial Four DOF Parallel Mechanism and Its Position Analysis
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发表时间：
2000
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通讯作者：
Z. Tie
中科院分区：
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作者：
Z. Tie
提出了一种新的四自由度并联机器人模型。讨论了机构模型的自由度和特点。的解决方案，开发的逆和正运动学。逆运动学为操纵器的每条腿产生两个解。运动学正解被简化为一个八阶多项式方程。最后给出了位置运动学的一些数值例子。
A novel model of a 4 DOF parallel manipulator is presented. The degree of freedom and the characteristics of the mechanism model are discussed. The solutions are developed for both the inverse and forward kinematics. The inverse kinematics produces two solutions for each leg of the manipulator. The forward kinematics is reduced to a eighth order polynomial equation. Some numerical examples for the position kinematics are presented finally.