POSITION ANALYSIS OF A 3-DOF PARALLEL MANIPULATOR

Authors
DUNLOP GR JONES TP
Citation
Gr. Dunlop et Tp. Jones, POSITION ANALYSIS OF A 3-DOF PARALLEL MANIPULATOR, Mechanism and machine theory, 32(8), 1997, pp. 903-920
Citations number
19
Categorie Soggetti
Engineering, Mechanical
Journal title
Mechanism and machine theory → ACNP
ISSN journal
0094114X
Volume
32
Issue
8
Year of publication
1997
Pages
903 - 920
Database
ISI
SICI code
0094-114X(1997)32:8<903:PAOA3P>2.0.ZU;2-F
Abstract
The forward and inverse kinematics of a 3-DOF parallel mechanism for b eam aiming applications is derived in closed form. The mechanism has t hree actuated arms attached to a base via revolute joints. Another thr ee arms are also attached to an upper platform via passive revolute jo ints. Each of the three base arms is connected to its respective oppos ing passive arm via a spherical joint. The platform has three degrees of freedom with respect to the base, two rotational and one radial mot ion. (C) 1997 Elsevier Science Ltd.