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Kinematic Forward Solution Analysis of the 3-PRS Parallel Robot
Advanced Materials Research, 2012It is always hot and difficult to research kinematic forward solutions of the Parallel robots .In the paper according to the trait of 3-PRS parallel robot, the three freedom degrees are analyzed by using helix theory, which include one prismatic freedom degree along z axis and two rotation freedom degrees along and axis.
Jun Jie Huang +2 more
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Closed form forward kinematics solution to a class of hexapod robots
IEEE Transactions on Robotics and Automation, 1998We present a class of hexapod robots for which we are able to provide true closed-form (non-numerical) solutions. The class studied in the paper is close to being a general hexapod robot and its engineering implementation can be carried out without any problem. Our method has been implemented using Maple. The algorithm of our methods is very simple and
null Jun Yang, Z.J. Geng
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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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Singularity analysis of planar parallel manipulators based on forward kinematic solutions
Mechanism and Machine Theory, 2009zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Firmani, Flavio, Podhorodeski, Ron P.
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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.
You-Nan Xu, Xin-Jun Liu, Jin-Song 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.
You-Nan Xu, Xin-Jun Liu, Jin-Song Wang
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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
Zhang, Chang-de, Song, Shin-Min
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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.
Tian, Yanling +3 more
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Forward kinematic solution for a five joint robot using artificial neural network
2014 International Conference on Circuits, Power and Computing Technologies [ICCPCT-2014], 2014The forward kinematic solution for a five joint robot manipulator deals with the coordinate frame with the use of known joint angle values. Forward kinematic solution use the transformation matrix for the calculation of the desired coordinate values.
Resmi J. Chandran +2 more
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Journal of Mechanisms and Robotics, 2023
Abstract Despite significant performance advantages, the intractable forward kinematics have always restricted the application of parallel manipulators to small posture spaces. Traditional analytical methods and Newton–Raphson method usually cannot solve this problem well due to lack of generality or latent divergence.
Chongjian He +3 more
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Abstract Despite significant performance advantages, the intractable forward kinematics have always restricted the application of parallel manipulators to small posture spaces. Traditional analytical methods and Newton–Raphson method usually cannot solve this problem well due to lack of generality or latent divergence.
Chongjian He +3 more
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Neural network solution for the forward kinematics problem of a Stewart platform
Proceedings. 1991 IEEE International Conference on Robotics and Automation, 2002A multiple neural network structure called cascaded CMAC (cerebella model arithmetic computer) is proposed to solve the forward kinematics problem of a (parallel link manipulator, called a Stewart platform. The cascaded CMAC networks can provide faster learning and the ability to capture both general trends and fine details of unknown nonlinear mapping.
Z. Geng, L. Haynes
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