Authors:
Ping Ji
1
and
Hongtao Wu
2
Affiliations:
1
The Hong Kong Polytechnic University, Hong Kong
;
2
Nanjing University of Aeronautics and Astronautics, China
Keyword(s):
Robot Manipulator, Parallel Platform, Forward Kinematics, Analytical Solution.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
This paper studies the kinematics of a special three degree-of-freedom (3 DOF) spherical parallel robot manipulator, where the two pyramids are exactly the same and so it is commonly called the 3 DOF congruent spherical parallel platform. Due to this special structure, the movement of the mobile pyramid can be regarded as the rotation of a rigid body from its base posture to its current status. By use of this special property, the forward kinematics of the parallel robot manipulator is obtained in this paper, and the final solution is a univariate quartic equation, which can be solved analytically without numerical iterations. A numerical example is provided to illustrate the method.