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Geometric approach to forward kinematics of casing oscillator

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2 Author(s)
Yun-Joo Nam ; Sch. of Mech. Eng., Pusan Nat. Univ., South Korea ; Myeong-Kwan Park

This paper presents the forward kinematics of the casing oscillator that is a construction machine. The structure of the casing oscillator is similar to those of 4 degrees of freedom parallel mechanisms with a redundancy. With geometric methods, an 8th-order polynomial in an unknown variable is derived for the forward kinematics using an over-constraint condition which is obtainable from the redundant operation. The proposed forward kinematics has a closed-form solution and enables the auto-balancing control to be achieved in real time. Also, numerical example is presented, and the result is verified by an inverse kinematics analysis.

Published in:

Industrial Electronics Society, 2004. IECON 2004. 30th Annual Conference of IEEE  (Volume:3 )

Date of Conference:

2-6 Nov. 2004