A Quasi-Closed Solution Method for Computing the Forward Kinematics of a Redundant Parallel Manipulator
عنوان مقاله: A Quasi-Closed Solution Method for Computing the Forward Kinematics of a Redundant Parallel Manipulator
شناسه ملی مقاله: ICEE12_032
منتشر شده در دوازدهیمن کنفرانس مهندسی برق ایران در سال 1383
شناسه ملی مقاله: ICEE12_032
منتشر شده در دوازدهیمن کنفرانس مهندسی برق ایران در سال 1383
مشخصات نویسندگان مقاله:
H Sadjadian - K.N. Toosi University of Technology
H.D Taghirad - K.N. Toosi University of Technology
خلاصه مقاله:
H Sadjadian - K.N. Toosi University of Technology
H.D Taghirad - K.N. Toosi University of Technology
In this paper, a quasi-closed solution method is presented to solve the forward kinematics of a three DOF actuator redundant hydraulic parallel manipulator. It is shown, that on the contrary to series manipulators, the forward kinematic map of the parallel manipulators involves highly coupled nonlinear equations, which are almost impossible to solve analytically. The proposed method uses a combination
of analytical and numerical schemes to solve the problem. A simulation study is performed using a sample trajectory to identify the advantages and disadvantages of the proposed method in computing the forward kinematic map of the given mechanism. The results show that the proposed method provides us with a relatively fast solution and good tracking performance although being dependent on the initial conditions used in the solution process.
کلمات کلیدی: Parallel Manipulator, Forward Kinematics, Optimization, Numerical Solution, Closed-form Solution
صفحه اختصاصی مقاله و دریافت فایل کامل: https://civilica.com/doc/59804/