This paper presents the echelon form direct position analysis of a class of fully in-parallel actuated mechanisms for the orientation of a rigid body with a fixed point. The mechanisms have a structure which is the most general one for manipulator spherical wrists with three degrees of freedom and fully-parallel arrangement. The analysis results in a two-equation system in echelon form; the first equation is of 8th order and the remaining is linear. As a consequence, when a set of actuator displacements is given, eight configurations of the mechanism are possible. A numerical example confirms the new theoretical result. © 1993.
Echelon form solution of direct kinematics for the general fully-parallel spherical wrist / Innocenti, C.; Parenti-Castelli, V.. - In: MECHANISM AND MACHINE THEORY. - ISSN 0094-114X. - 28:4(1993), pp. 553-561. [10.1016/0094-114X(93)90035-T]
Echelon form solution of direct kinematics for the general fully-parallel spherical wrist
Innocenti C.;
1993
Abstract
This paper presents the echelon form direct position analysis of a class of fully in-parallel actuated mechanisms for the orientation of a rigid body with a fixed point. The mechanisms have a structure which is the most general one for manipulator spherical wrists with three degrees of freedom and fully-parallel arrangement. The analysis results in a two-equation system in echelon form; the first equation is of 8th order and the remaining is linear. As a consequence, when a set of actuator displacements is given, eight configurations of the mechanism are possible. A numerical example confirms the new theoretical result. © 1993.Pubblicazioni consigliate
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