Referenced Items are not available for this document.
This paper presents the Eclipse II, a new six-degrees-of-freedom parallel mechanism, which can be used as a basis for general motion simulators. The Eclipse II is capable of x, y, and z axes translations, and a, b, and c axes rotations. In particular, it has the advantage of enabling continuous 360° spinning of the platform. We first describe the computational procedures for the forward and inverse kinematics of the Eclipse II. Next, the complete singularity analysis is presented for the two cases of end-effector singularity and actuator singularity. Finally, two additional actuators are added to the original mechanism to eliminate both types of singularity within the workspace
Published in:
Robotics and Automation, IEEE Transactions on
(Volume:18
,
Issue:
3
)
Date of Publication: Jun 2002
- Page(s):
- 367 - 373
- ISSN :
- 1042-296X
- INSPEC Accession Number:
- 7340345
- Digital Object Identifier :
- 10.1109/TRA.2002.1019472
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 07 August 2002
- Issue Date :
- Jun 2002
- Sponsored by :
- IEEE Robotics and Automation Society
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