The direct position analysis of fully-parallel manipulators entails in essence the analysis of fully-parallel kinematic chains that feature two rigid bodies connected to each other via six binary links (legs) through spherical pairs. Some legs may share their endings, thus different leg arrangements are possible. The paper presents an original procedure for identification and exhaustive enumeration of fully-parallel kinematic chains. The enumeration leads to the identification of twenty-one different fully-parallel kinematic chains and provides the frame within which the state of the art in the field of direct position analysis of fully-parallel manipulators - or, more strictly, of fully-parallel kinematic chains - can be conveyed.
Exhaustive enumeration of fully parallel kinematic chains / Innocenti, Carlo; Parenti-Castelli, Vincenzo. - 55-2:(1994), pp. 1135-1141. (Intervento presentato al convegno Proceedings of the 1994 International Mechanical Engineering Congress and Exposition tenutosi a Chicago, IL, USA, nel 1994).
Exhaustive enumeration of fully parallel kinematic chains
Innocenti Carlo;
1994
Abstract
The direct position analysis of fully-parallel manipulators entails in essence the analysis of fully-parallel kinematic chains that feature two rigid bodies connected to each other via six binary links (legs) through spherical pairs. Some legs may share their endings, thus different leg arrangements are possible. The paper presents an original procedure for identification and exhaustive enumeration of fully-parallel kinematic chains. The enumeration leads to the identification of twenty-one different fully-parallel kinematic chains and provides the frame within which the state of the art in the field of direct position analysis of fully-parallel manipulators - or, more strictly, of fully-parallel kinematic chains - can be conveyed.
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