{"title":"六自由度选择性驱动并联机器人运动学分析","authors":"Yan Jin, I. Chen, Guilin Yang","doi":"10.1109/RAMECH.2004.1438922","DOIUrl":null,"url":null,"abstract":"This paper presents the kinematics analysis of a novel parallel manipulator termed a selectively actuated parallel mechanism (SA-PM). The end-effector of the manipulator can produce 3-DOF spherical motion, 3-DOF translation, 3-DOF hybrid motion, or complete 6-DOF spatial motion depending on the types of the actuation (rotary or linear) chosen for the actuators. As the manipulator architecture decouples translation and rotation of the end-effector for individual control, the position and orientation of the end-effector are analyzed separately. The close-form solutions are provided, which shows that there are at most eight solutions for both inverse and forward kinematics.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"159 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Kinematics analysis of a 6-DOF selectively actuated parallel manipulator\",\"authors\":\"Yan Jin, I. Chen, Guilin Yang\",\"doi\":\"10.1109/RAMECH.2004.1438922\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents the kinematics analysis of a novel parallel manipulator termed a selectively actuated parallel mechanism (SA-PM). The end-effector of the manipulator can produce 3-DOF spherical motion, 3-DOF translation, 3-DOF hybrid motion, or complete 6-DOF spatial motion depending on the types of the actuation (rotary or linear) chosen for the actuators. As the manipulator architecture decouples translation and rotation of the end-effector for individual control, the position and orientation of the end-effector are analyzed separately. The close-form solutions are provided, which shows that there are at most eight solutions for both inverse and forward kinematics.\",\"PeriodicalId\":252964,\"journal\":{\"name\":\"IEEE Conference on Robotics, Automation and Mechatronics, 2004.\",\"volume\":\"159 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2004-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Conference on Robotics, Automation and Mechatronics, 2004.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RAMECH.2004.1438922\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RAMECH.2004.1438922","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Kinematics analysis of a 6-DOF selectively actuated parallel manipulator
This paper presents the kinematics analysis of a novel parallel manipulator termed a selectively actuated parallel mechanism (SA-PM). The end-effector of the manipulator can produce 3-DOF spherical motion, 3-DOF translation, 3-DOF hybrid motion, or complete 6-DOF spatial motion depending on the types of the actuation (rotary or linear) chosen for the actuators. As the manipulator architecture decouples translation and rotation of the end-effector for individual control, the position and orientation of the end-effector are analyzed separately. The close-form solutions are provided, which shows that there are at most eight solutions for both inverse and forward kinematics.
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