Displacement analysis of a six-dof parallel manipulator with 3R3P and 4R2P chains

Proceedings of the ASME Design Engineering Technical Conference

Volumn 1A-1998, Issue , 1998, Pages

  Kamra, R ^a   Kohli, D ^a   Dhingra, A K ^a  

^a University of Wisconsin Milwaukee   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS);

DISPLACEMENT ANALYSIS; FORWARD DISPLACEMENT ANALYSIS; PARALLEL MANIPULATORS; PLATFORM MANIPULATORS; SIX DEGREE-OF-FREEDOM; SIX-DOF; SOLUTION PROCEDURE; TANGENT METHOD;

MANIPULATORS;

EID: 84942528994     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/DETC98/MECH-5968     Document Type: Conference Paper

References (7)

1. Griffs, M. and Duffy, J., 1989, ?A Forward Displacement Analysis of a Class of Stewart Platforms, ? Journal of Robotics Systems, 6(6), pp. 703-720.
2. Kohli, D., Lee, S. H., Tsai, K. Y. and Sandor, G. N., 1988, ?Manipulator Configurations based on Rotary-Linear Actuators and their Direct and Inverse Kinematics, ? Journal of Mechanism, Transmissions and Automation in Design, Vol. 110, pp. 397-404.
3. Parenti-Castelli, V. and Innocenti, C., 1990, ?Forward Displacement Analysis of Parallel Mechanisms: Closed form Solutions of PRR-3S and PPR-3S Structures, ? Proceedings of the 1990 ASME Design Technical Conference, Chicago, DEVol. 25, pp. 111-116.
4. Zhang, C. and Song, S. M., 1994, ?Forward Position Analysis of Nearly Geaneral Stewart Platforms, ? Journal of Mechanical Design, Vol. 116, pp. 54-60.
5. Kohli, D. and Osvatic, M., 1993, ? Inverse Kinematics of General 6R and 5RP serial manipulators, ? Journal of Mechanical Design, Vol. 115, pp. 922-931.
6. Raghavan, M. and Roth, B., 1993, ?Inverse Kinematics of General 6R manipulators and related linkages, ? Journal of Mechanical Design, Vol. 115, pp. 502-508.
7. Kamra, R., Kohli, D., and Dhingra, A. K., 1997, ?Displacement Analysis of a Parallel Manipulator with Six 3R3P chains?. Proceedings, 5th National Applied Mechanism and Robotics Conference, Cincinnati, Ohio, Vol. 2, AMR 97- 064-001-AMR 97-064-005.