The paper presents the direct position analysis of the parallel manipulator that features and end-effector with six coplanar spherical joints constrained to lie on x-y sliding tables. By properly controlling the postures of the sliding tables, the end-effector is endowed with up to six degrees of freedom with respect to the frame. The direct position analysis, aimed at determining all positions of the end-effector consistent with a given set of sliding table postures, is solved in analytical form by first devising a system of eight nonlinear compatibility equations in a corresponding number of unknowns. By an original elimination procedure, a final eighth-order univariate polynomial equation is obtained whose eight roots represent as many assembly configurations for the analyzed manipulator. A numerical example is finally reported which confirms the new theoretical results.

Direct position analysis in analytical form of the parallel manipulator that features a planar platform supported at six points by six planes / Innocenti, Carlo. - 64:8-3(1994), pp. 803-808. (Intervento presentato al convegno Proceedings of the 2nd Biennial European Joint Conference on Engineering Systems Design and Analysis. Part 1 (of 8) tenutosi a London, Engl, nel 1994).

Direct position analysis in analytical form of the parallel manipulator that features a planar platform supported at six points by six planes

Innocenti Carlo
1994

Abstract

The paper presents the direct position analysis of the parallel manipulator that features and end-effector with six coplanar spherical joints constrained to lie on x-y sliding tables. By properly controlling the postures of the sliding tables, the end-effector is endowed with up to six degrees of freedom with respect to the frame. The direct position analysis, aimed at determining all positions of the end-effector consistent with a given set of sliding table postures, is solved in analytical form by first devising a system of eight nonlinear compatibility equations in a corresponding number of unknowns. By an original elimination procedure, a final eighth-order univariate polynomial equation is obtained whose eight roots represent as many assembly configurations for the analyzed manipulator. A numerical example is finally reported which confirms the new theoretical results.
1994
Proceedings of the 2nd Biennial European Joint Conference on Engineering Systems Design and Analysis. Part 1 (of 8)
London, Engl,
1994
64
803
808
Innocenti, Carlo
Direct position analysis in analytical form of the parallel manipulator that features a planar platform supported at six points by six planes / Innocenti, Carlo. - 64:8-3(1994), pp. 803-808. (Intervento presentato al convegno Proceedings of the 2nd Biennial European Joint Conference on Engineering Systems Design and Analysis. Part 1 (of 8) tenutosi a London, Engl, nel 1994).
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1247387
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