{"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}
引用次数: 6
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.
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