Abstract
Most of 6-DOF parallel manipulators (PM) consist of six limbs. These PM possess the advantages of high stiffness, low inertia and large payload capacity. However, such six – limbed fully PM have a limited workspace and complex kinematic singularities. In this paper the method of inverse kinematics of six-DOF three – limbed PM is presented. This PM is formed by connection of a moving platform with a base by three spatial dyads with cylindrical joints. Each of the three active cylindrical joints located on a base of this PM 3CCC has actuators of P-R type. The inverse kinematics of the PM 3CCC is solved on the basis of position analysis of the spatial dyads with cylindrical joints. The analysis shows that 8 sets of inverse kinematic solutions exist for PM 3CCC.
Author supplied keywords
Cite
CITATION STYLE
Baigunchekov, Z., Kalimoldaev, M., Utenov, M., Izmambetov, M., & Baigunchekov, T. (2017). Inverse kinematics of six – DOF three - limbed parallel manipulator. In Advances in Intelligent Systems and Computing (Vol. 540, pp. 171–178). Springer Verlag. https://doi.org/10.1007/978-3-319-49058-8_19
Register to see more suggestions
Mendeley helps you to discover research relevant for your work.
