Spherically actuated platform manipulator

DOI10.1002/ROB.1012MaRDI QIDQ2711925zbMATH OpenOpenAlexFDO

Authors Dana B. Poling, Robert L. II Williams

Publication date 15 September 2002

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1172775949

zbMATH Keywords

active joint ratesdirect kinematicsend effectorinverse kinematicsJacobian operatorspherical jointsspherical-prismatic-universal chainspherically actuated parallel manipulatorvelocity analysis

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Review text

The authors discuss a spherically actuated parallel manipulator. It consists of a moving platform which is connected to a fixed base via two spherical-prismatic-universal chains. Only two spherical joints are actuated, both universal and prismatic joints are passive. In both direct and inverse analysis the authors have to take into account the passive joints. The inverse kinematics is solved analytically, whereas the direct kinematics is solved only numerically. The complete analytic solution of the direct kinematics remains an open problem. Especially, the number of solutions is not reported. Then the authors perform the velocity analysis, namely calculate the Jacobian operator that links Cartesian velocities of the end effector to the active joint rates. The paper ends with an example in which the authors demonstrate the inverse and forward kinematics as well as the calculation of joint rates.

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Cites work

• Conditions for line-based singularities in spatial platform manipulators
• Dynamic Modeling and Control of a Ball-Joint-Like Variable-Reluctance Spherical Motor
• scientific article; zbMATH DE number 1343269 (Why is no real title available?)
• scientific article; zbMATH DE number 194581 (Why is no real title available?)
• Identification of placement parameters for modular platform manipulators
• Kinematic analysis and singularity representation of spatial five-degree-of-freedom parallel mechanisms

Cited in

(4)

• A family of spherical parallel manipulators with two legs
• scientific article; zbMATH DE number 1304548 (Why is no real title available?)
• Numerical direct kinematic analysis of fully parallel linearly actuated platform type manipulators
• On the kinematic analysis of a spatial six-degree-of-freedom parallel manipulator

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