Direct kinematics of 3DOF planar parallel mechanisms: A discussion
This paper presents the direct kinematic solutions of 3DOF planar parallel mechanisms, specifically of the 3RRR mechanism. The direct kinematic problem of the mechanism generally results in a polynomial solution. To obtain an analytical (closed-form) solution, it is necessary for the polynomial to b...
| Main Authors: | , , , , |
|---|---|
| Other Authors: | |
| Format: | Conference Paper |
| Published: |
Curran Associates
2006
|
| Online Access: | http://hdl.handle.net/20.500.11937/24379 |
| Summary: | This paper presents the direct kinematic solutions of 3DOF planar parallel mechanisms, specifically of the 3RRR mechanism. The direct kinematic problem of the mechanism generally results in a polynomial solution. To obtain an analytical (closed-form) solution, it is necessary for the polynomial to be of degree 4 or less. This paper presents a special configuration that reduces the polynomial solution to a 4th degree. This special configuration further decouples the direct kinematics of the position and the orientation of the end-effector into two cascaded quadratic equations. Numerical example is carried out to verify the results of this simplification. The existence of the closed-form solution would increase the accuracy of the direct kinematic solution and improves computational efficiency as numerical iterative method is not required. This result provides an efficient computational method for a very useful configuration of planar parallel manipulators. |
|---|