Abstract
A semigraphical method is presented for computing all real direct kinematic solutions of platform-type parallel manipulators with general geometries. The direct kinematic problem is reduced to basically two bivariate equations in the sines and cosines of two unknown angles. One equation is derived by solving an overdetermnined system of equations that can be perturbed by different multiples of the least-square error involved in the solutions. Upon perturbing this equation by two different multiples, two distinct equations are obtained. The first bivariate equation and each of these two equations define three contours in the plane of the two angles involved, the intersections of these contours providing all real solutions. The method is uscd to finnd all rcal dircct kincmatic soluticr.s of a general parallel manipulator of the platform type.
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© 1993 Springer Science+Business Media Dordrecht
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Zanganeh, K.E., Angeles, J. (1993). The Semigraphical Solution of the Direct Kinematics of General Platform-Type Parallel Manipulators. In: Angeles, J., Hommel, G., Kovács, P. (eds) Computational Kinematics. Solid Mechanics and Its Applications, vol 28. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-8192-9_15
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DOI: https://doi.org/10.1007/978-94-015-8192-9_15
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-4342-9
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