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Solution of direct kinematics of 6-DOF parallel manipulatorsusing extra sensors

Pei Baoqing Han Xianguo Chen Wuyi(School of Mechanical Engineering and Automation, Beijing Univers ity of Aeronautics and Astronautics, Beijing 100083, China)  
The direct kinematics problem of a 6-DOF parallel m anipulator is di fficult and there is usually not a unique solution. Different methods of handlin g the direct kinematics problem were discussed. Two common approaches to find th e solution directly are using an iterative numerical procedure or using the extra sensors. Two types of extra sensors can be used, rotary and linear, but they ar e used in different configurations. The accuracy and complexity of the computati ons for the direct kinematics vary with different configurations of the sensors. Purpose is to determine how to add sensors to the manipulators, and find th eir number and their location, together with the procedure to get the posture of the platform. A simple configuration of the sensors was proposed together with the procedure to get the posture of the mobile platform. With the length of the 6 links and 4 rotary sensors or 3 linear sensors, posture of the mobile platform can be determined uniquely.
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