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Closed-form solutions for the forward kinematics of a 4-DOFs parallel robot H4

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3 Author(s)
Hee-Byoung Choi ; Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan ; Konno, A. ; Uchiyama, M.

This paper present closed-form solutions for the forward kinematics of a 4-DOFs parallel robot H4. Many researchers have tried to obtain closed-form solutions of 3-and 6-DOFs parallel robots, i.e., planar, Delta, Stewart platform and Hexapod robots, in a single variable polynomial equation. Indeed, there are just few effort have been devoted in the past to 4-DOFs parallel robot. Therefore, we focus on the forward kinematics of a 4-DOFs parallel robot H4. Solutions of the forward kinematic yields a 16th degree polynomial in a single variable which indicates that there may be up to 16 different configurations for the travelling plate for a given set of motor's angle. The results are presented via a numerical example.

Published in:

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on  (Volume:4 )

Date of Conference:

27-31 Oct. 2003