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Forward kinematics of a class of parallel (Stewart) platforms with closed-form solutions
Proceedings. 1991 IEEE International Conference on Robotics and Automation, 1992AbstractThis article studies the geometrical condition for closed‐form solutions of forward kinematics of parallel platforms. It is shown that closed‐form solutions are available if 1 rotational degree of freedom (dof) of the moving platform is decoupled from the other 5 dof. Geometrically, this condition is satisfied when five end‐points at the moving
Chang-De Zhang, Shin-Min Song
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Algebraic solution to forward kinematics of a 3‐DOF spherical parallel manipulator
Journal of Robotic Systems, 2001AbstractA three degree‐of‐freedom (3‐DOF) spherical parallel manipulator consists of two tetrahedrons (pyramids). The base tetrahedron is fixed while the moving tetrahedron is rotating at the joint apex of the two tetrahedrons. This article studies the forward kinematics to a special 3‐DOF spherical parallel manipulator, where the three apical angles ...
Ping Ji 0001, Hongtao Wu
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Journal of Intelligent & Robotic Systems, 2016
Many parallel robots can change between different assembly modes (solutions of the forward kinematic problem) without crossing singularities, either by enclosing cusps or alpha-curves of the planar sections of their singularity loci. Both the cusps and the alpha-curves are stable singularities, which do not disappear under small perturbations of the ...
Adrián Peidró +4 more
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Many parallel robots can change between different assembly modes (solutions of the forward kinematic problem) without crossing singularities, either by enclosing cusps or alpha-curves of the planar sections of their singularity loci. Both the cusps and the alpha-curves are stable singularities, which do not disappear under small perturbations of the ...
Adrián Peidró +4 more
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Forward Kinematics and Solution Methodologies for a Flexure-Based Micro-manipulator
2008This paper presents the forward kinematics of a five-bar compliant micro-manipulator, where lever mechanisms are used to enlarge the working range in Cartesian space. Based on the configuration of the proposed flexure-based micro-manipulator, the entire system has been divided into a five-bar mechanism and two four-bar amplification mechanisms.
Yanling Tian +3 more
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Comments on "Closed form forward kinematics solution to a class of hexapod robots"
IEEE Transactions on Robotics and Automation, 1999The paper above by Yang and Geng (1998) presents a class of parallel manipulators that has an efficient closed form solution to its forward kinematics. This Correspondence points to some missing insights in that paper (and in many others), especially with respect to singular configurations.
Herman Bruyninckx, Joris De Schutter
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Real Time Forward Kinematics Solutions for General Stewart Platforms
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007A new paradigm is introduced for solving the forward kinematics of general Stewart platforms in real-time. It consists of an off-line preprocessing phase and an online realtime evaluation phase. In the preprocessing phase, the platform leg (link) space is decomposed into cells, and a large set of data is generated for the platform position/orientation (
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The estimation for forward kinematic solution of Stewart platform using the neural network
Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289), 2003This paper introduces a kind of the forward kinematic analysis, which finds the 6-DOF motions from a given six cylinder lengths in the Stewart platform. In the case of a parallel manipulator, while the solution of the inverse kinematics can easily be found by the vectors of the links which are composed of the joint coordinates in base and plate frame ...
Lee Hyung Sang, Myung-Chul Han
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2012
The articulated A/B-axis tool heads with parallel structure behave better than the traditional tool heads with serial structure in terms of saving machine processing time and reducing the deformation of the workpiece when they are used in thin wall machining applications for structural aluminium aerospace components.
Younan Xu, Xin-Jun Liu, Jinsong Wang
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The articulated A/B-axis tool heads with parallel structure behave better than the traditional tool heads with serial structure in terms of saving machine processing time and reducing the deformation of the workpiece when they are used in thin wall machining applications for structural aluminium aerospace components.
Younan Xu, Xin-Jun Liu, Jinsong Wang
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Robotica, 2006
In this paper, a 3-DOF parallel kinematic machine (PKM) with a passive link is introduced. The forward kinemaic model is established, and a new technique is proposed to solve this model. The developed forward kinematic solver (FKS) is employed in two new applications: the determination of joint workspace and sensor-based real-time monitoring.
Zhu Ming Bi, Sherman Y. T. Lang
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In this paper, a 3-DOF parallel kinematic machine (PKM) with a passive link is introduced. The forward kinemaic model is established, and a new technique is proposed to solve this model. The developed forward kinematic solver (FKS) is employed in two new applications: the determination of joint workspace and sensor-based real-time monitoring.
Zhu Ming Bi, Sherman Y. T. Lang
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A direct numerical solution to forward kinematics of general Stewart–Gough platforms
Robotica, 2006This paper presents a simple numerical method for forward kinematics of general Stewart–Gough platforms, which can generate a unique solution directly. This method utilizes the trivial nature of the inverse kinematics of parallel manipulators, and derives a straightforward linear relationship between the small change in joint variables (leg lengths ...
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