Referenced Items are not available for this document.
The condition under which closed-form solutions of forward kinematics of parallel platforms are obtainable is explored. It is found that forward position analysis has closed-form solutions if one rotational degree of freedom (DOF) of a parallel platform is decoupled from the other five DOFs. Geometrically, this condition is satisfied when five end points at the platform or at the base are on the same line. A general case in which these five points do not coincide with each other is studied first and is shown to have 16 possible closed-form solutions. The computation of these solutions is very efficient compared to that of Stewart platforms. The different geometries of parallel platforms with closed-form solutions are discussed
Published in:
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Date of Conference: 9-11 Apr 1991
- Page(s):
- 2676 - 2681 vol.3
- Meeting Date :
- 09 Apr 1991-11 Apr 1991
- Print ISBN:
- 0-8186-2163-X
- INSPEC Accession Number:
- 4102086
- Conference Location :
- Sacramento, CA
- Digital Object Identifier :
- 10.1109/ROBOT.1991.132034
- Product Type:
- Conference Publications
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