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Forward Kinematics of Casing Oscillator

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2 Author(s)
Yun-Joo Nam ; Dept. of Mech. & Intelligent Syst. Eng., Pusan Nat. Univ. ; Myeong-Kwan Park

This paper presents the forward kinematics of the casing oscillator, which is a heavy construction machine. This machine has a four-degrees-of-freedom (DoF) parallel mechanism with one redundancy. By using the geometric approach, the forward position kinematics for the casing oscillator is derived as a fourth-order polynomial equation in square form of one output variable

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:11 ,  Issue: 5 )