The paper presents the position analysis of a spatial structure composed of two platforms mutually connected by one RRP and three SS serial kinematic chains, where R, P, and S stand for revolute, prismatic, and spherical kinematic pair respectively. A set of three compatibility equations is laid down that, following algebraic elimination, results in a 28th-order univariate algebraic equation, which in turn provides the addressed problem with 28 solutions in the complex domain. Among the applications of the results presented in this paper is the solution to the forward kinematics of the Tricept, a well-known in-parallel-actuated spatial manipulator. Numerical examples show adoption of the proposed method in dealing with two case studies.
Position analysis of the RRP-3(SS) multi-loop spatial structure / Innocenti, C.; Wenger, P.. - 2:(2004), pp. 977-985. (Intervento presentato al convegno 2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference tenutosi a Salt Lake City, UT, usa nel 2004) [10.1115/detc2004-57382].
Position analysis of the RRP-3(SS) multi-loop spatial structure
Innocenti C.;
2004
Abstract
The paper presents the position analysis of a spatial structure composed of two platforms mutually connected by one RRP and three SS serial kinematic chains, where R, P, and S stand for revolute, prismatic, and spherical kinematic pair respectively. A set of three compatibility equations is laid down that, following algebraic elimination, results in a 28th-order univariate algebraic equation, which in turn provides the addressed problem with 28 solutions in the complex domain. Among the applications of the results presented in this paper is the solution to the forward kinematics of the Tricept, a well-known in-parallel-actuated spatial manipulator. Numerical examples show adoption of the proposed method in dealing with two case studies.
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