Screw theory-based mobility analysis and projection-based kinematic modeling of a 3-CRRR parallel manipulator
Sign Up to like & getrecommendations! Published in 2018 at "Journal of the Brazilian Society of Mechanical Sciences and Engineering"
DOI: 10.1007/s40430-018-1277-3
Abstract: Forward kinematics analysis of parallel manipulators requires solving highly complicated nonlinear equations, which deriving a closed-form solution is often a real challenge. Being used in closed loop position control of mechanisms, the forward kinematics solution… read more here.
Keywords: mobility; kinematics; manipulator; forward kinematics ... See more keywords
Full-mobility 3-CCC parallel-kinematics machines: Forward kinematics, singularity, workspace and dexterity analyses
Sign Up to like & getrecommendations! Published in 2018 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2018.04.015
Abstract: Abstract The 3- C CC class of parallel-kinematics machines (PKMs) bears many interesting features, as found in a previous paper on its optimum design. In this paper, its forward-kinematics (FK), singularity, workspace and dexterity analyses… read more here.
Keywords: parallel kinematics; dexterity; kinematics; kinematics machines ... See more keywords
Forward Kinematics and Singularity Analyses of an Uncoupled Parallel Manipulator by Algebraic Screw Theory
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2021.3139644
Abstract: In this contribution, the Jacobian analysis of a four-legged six-degrees-of-freedom decoupled parallel manipulator is carried out through the screw theory. As an intermediate step, for the sake of completeness the inverse/forward displacement analysis as well… read more here.
Keywords: parallel manipulator; kinematics; screw theory; forward kinematics ... See more keywords
Forward Kinematics Kernel for Improved Proxy Collision Checking
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DOI: 10.1109/lra.2020.2970645
Abstract: Kernel functions may be used in robotics for comparing different poses of a robot, such as in collision checking, inverse kinematics, and motion planning. These comparisons provide distance metrics often based on joint space measurements… read more here.
Keywords: collision; robotics; forward kinematics; proxy collision ... See more keywords
Efficient hybrid method for forward kinematics analysis of parallel robots based on signal decomposition and reconstruction
Sign Up to like & getrecommendations! Published in 2017 at "Advances in Mechanical Engineering"
DOI: 10.1177/1687814017699094
Abstract: This article combines a new method based on signal decomposition and reconstruction with a fifth-order numerical algorithm and proposes an efficient hybrid method for solving forward kinematics problem of parallel manipulators. In this hybrid method,… read more here.
Keywords: method; kinematics; forward kinematics; solution ... See more keywords
Forward Kinematics Analysis of a Novel 3-DOF Parallel Manipulator
Sign Up to like & getrecommendations! Published in 2018 at "Scientia Iranica"
DOI: 10.24200/sci.2018.20740
Abstract: A novel spatial parallel manipulator designed to assemble diagnostic instruments in SG-III is introduced in this paper. Firstly, resorting to screw theory, mobility analysis of this manipulator is investigated. Then the inverse kinematics problem is… read more here.
Keywords: kinematics analysis; kinematics; manipulator; forward kinematics ... See more keywords
On Forward Kinematics of a 3SPR Parallel Manipulator
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Control Systems Letters"
DOI: 10.48550/arxiv.2205.15518
Abstract: This letter presents a new numerical method to solve the forward kinematics (FK) of a parallel manipulator with a three-limb spherical-prismatic-revolute (3SPR) structure. Unlike the existing numerical approaches that require the manipulator’s Jacobian matrix and… read more here.
Keywords: parallel manipulator; 3spr parallel; kinematics; manipulator ... See more keywords