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Kinematic analysis of a novel 6-DOF parallel manipulator

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2 Author(s)
Cleary, K. ; Hughes STX Robotics, Lanham, MD, USA ; Brooks, T.

The kinematics of a Cartesian six-degree-of-freedom parallel manipulator is described. The manipulator consists of a base plate, a top plate, and three connecting legs in an all-revolute-joint design. The inverse kinematics are presented in closed form, and a numerical solution for the forward kinematics is given. The kinematic equations presented have been implemented in the real-time control software and could be run at a high sampling rate due to their efficient arrangement

Published in:

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date of Conference:

2-6 May 1993