{"title":"六自由度并联机器人机械臂正运动学模型的求解","authors":"M. Arshad, T. M. Khan, M. Choudhry","doi":"10.1109/ICET.2005.1558914","DOIUrl":null,"url":null,"abstract":"Mathematical models for six degrees of freedom (DOF) parallel robot manipulator have been developed and described in this paper. These models deal with the statics and kinematics of the manipulator. The static part is concerned with the structural analysis of the manipulator. The kinematics covers both the forward and inverse kinematics problems of the manipulator. These models have been developed and simulated, using C++. Singular configurations of the manipulator were observed during simulation tests. The analysis of the singular configurations of the manipulator has been discussed. The Simulation results of the models have also been presented.","PeriodicalId":222828,"journal":{"name":"Proceedings of the IEEE Symposium on Emerging Technologies, 2005.","volume":"30 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":"{\"title\":\"Solution of forward kinematics model of six degrees of freedom parallel robot manipulator\",\"authors\":\"M. Arshad, T. M. Khan, M. Choudhry\",\"doi\":\"10.1109/ICET.2005.1558914\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Mathematical models for six degrees of freedom (DOF) parallel robot manipulator have been developed and described in this paper. These models deal with the statics and kinematics of the manipulator. The static part is concerned with the structural analysis of the manipulator. The kinematics covers both the forward and inverse kinematics problems of the manipulator. These models have been developed and simulated, using C++. Singular configurations of the manipulator were observed during simulation tests. The analysis of the singular configurations of the manipulator has been discussed. The Simulation results of the models have also been presented.\",\"PeriodicalId\":222828,\"journal\":{\"name\":\"Proceedings of the IEEE Symposium on Emerging Technologies, 2005.\",\"volume\":\"30 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2005-12-19\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"8\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the IEEE Symposium on Emerging Technologies, 2005.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICET.2005.1558914\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the IEEE Symposium on Emerging Technologies, 2005.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICET.2005.1558914","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Solution of forward kinematics model of six degrees of freedom parallel robot manipulator
Mathematical models for six degrees of freedom (DOF) parallel robot manipulator have been developed and described in this paper. These models deal with the statics and kinematics of the manipulator. The static part is concerned with the structural analysis of the manipulator. The kinematics covers both the forward and inverse kinematics problems of the manipulator. These models have been developed and simulated, using C++. Singular configurations of the manipulator were observed during simulation tests. The analysis of the singular configurations of the manipulator has been discussed. The Simulation results of the models have also been presented.
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