Position Kinematics of a 3-RRS Parallel Manipulator

机译：3 RRS并行机械手的位置运动学

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The 3-RRS parallel manipulator presented in this study comprises of parallel revolute joint axes in each leg. The manipulator is composed of a base and a moving platform which are in the shape of equilateral triangles. Moving platform has two rotational and one translational degrees-of-freedom. This study formulates the forward and inverse kinematics of the parallel manipulator. A 16th order polynomial in terms of one of the passive joint variables is obtained for the forward kinematic analysis. Numerical results and the corresponding pose of the manipulator for inverse and forward kinematics are presented.

机译：本研究中呈现的3-RRS并联机械手包括每个腿部的平行旋转关节轴。操纵器由底座和移动平台组成，该移动平台是等边三角形的形状。移动平台有两个旋转和一个平移自由度。本研究制定了并行机械手的前向和逆运动学。在前向运动分析中获得了一个被动关节变量的第16阶多项式。介绍了数值结果和操纵器对逆向和向前运动学的相应姿势。

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《CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators》|2016年|390p|共8页
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作者
Halil Tetik; Rohit Kalla; Gokhan Kiper; Sandipan Bandyopadhyay;
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中图分类 TP24-53;
关键词
3-RRS parallel manipulator; Inverse kinematics; Forward kinematics;

机译：3-RRS并行机械手;反向运动学;向前运动学;

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专利

1. An Application of the Newton-Homotopy Continuation Method for Solving the Forward Kinematic Problem of the 3-RRS Parallel Manipulator [J] . Gallardo-Alvarado Jaime Mathematical Problems in Engineering . 2019,第2期

机译：牛顿同态连续法在解决3-RRS并联机械手正向运动学问题中的应用
2. An Application of the Newton-Homotopy Continuation Method for Solving the Forward Kinematic Problem of the 3-RRS Parallel Manipulator [J] . Jaime Gallardo-Alvarado Mathematical Problems in Engineering: Theory, Methods and Applications . 2019,第1期

机译：牛顿 - 同型延续方法解决3-RRS平行机械手的前向运动问题
3. Dynamic modeling and analysis of 3-RRS parallel manipulator with flexible links [J] . LIU Shan-zeng, YU Yue-qing, ZHU Zhen-cai, 中南大学学报（英文版） . 2010,第002期

机译：具有灵活链接的3-RRS并联机械手的动力学建模和分析
4. Position Kinematics of a 3-RRS Parallel Manipulator [C] . Halil Tetik, Rohit Kalla, Gokhan Kiper, Romansy 21- Robot design, dynamics and control . 2016

机译：3-RRS并联机械手的位置运动学
5. Using general regression and modular neural networks for solving the forward kinematics problem in parallel robotic manipulators. [D] . Najar, Rawan I. 2016

机译：使用通用回归和模块化神经网络解决并行机器人操纵器中的正向运动学问题。
6. GNSS Precise Kinematic Positioning for Multiple Kinematic Stations Based on A Priori Distance Constraints [O] . Kaifei He, Tianhe Xu, Christoph Förste, 2016

机译：基于先验距离约束的多运动站GNSS精确运动定位
7. Position Kinematics of a 3-RRS Parallel Manipulator [O] . Tetik Halil, Kalla Rohit, Kiper Gökhan, 2016

机译：3-RRS并联机械手的位置运动学
8. The double universal joint wrist on a manipulator: Solution of inverse position kinematics and singularity analysis [R] . Williams, Robert L., III 1992

机译：机械手上的双万向节腕：反位运动学和奇异性分析的解决方案

Position Kinematics of a 3-RRS Parallel Manipulator

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