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    請使用永久網址來引用或連結此文件: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/76510

    題名: Forward Position Analysis of 6-3 Linapod Parallel Manipulators
    作者: Liu, C. H.;Huang, Kuan-chih;Wang, Yin-tien
    貢獻者: 淡江大學機械與機電工程學系
    關鍵詞: Linapod;Hexaglide;Hexaslide;Parallel manipulators;Parallel robots;Kinematics of machinery
    日期: 2012-06
    上傳時間: 2012-05-14 13:58:37 (UTC+8)
    出版者: Dordrecht: Springer Netherlands
    摘要: In this study closed-form solutions to the forward kinematic problems are obtained for a particular type of six degree-of-freedom parallel manipulator called 6-3 Linapod. The 6-3 Linapod parallel manipulators have a 6-3 PSS (or PUS) structure, and forward kinematic solutions are obtained by using the solution procedure for 6-3 SPS (or UPS) manipulators. In this procedure, a 6-3 Linapod is first transformed into its equivalent mechanism, namely an inclined 3RS manipulator, and then the condition that the three spherical joints on the moving platform form an equilateral triangle leads us to obtain three polynomial equations in three unknowns. These equations are solved by using Sylvester dialytic elimination method. Each set of real roots corresponds to a particular configuration of the manipulator. Solutions so obtained are verified by performing inverse position analysis. A method to identify configurations containing crossed links is presented in this study, which is based on the interpretation of link crossing as intersection of a link with a triangle, whose vertices are positions of joints on the corresponding links.
    關聯: Meccanica 47(5), p.1271–1282
    DOI: 10.1007/s11012-011-9511-4
    顯示於類別:[機械與機電工程學系暨研究所] 期刊論文


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