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**kaiju** · 01-08-2009, 07:42 PM

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Polynomial solutions for the direct kinematic problem of planarthree-degree-of-freedom parallel manipulators
Gosselin, C.M. Sefrioui, J.
Dept. de Genie Mecanique, Laval Univ., Ste-Foy, Que.;

This paper appears in: Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Publication Date: 19-22 Jun 1991
On page(s): 1124-1129 vol.2
Meeting Date: 06/19/1991 - 06/22/1991
Location: Pisa, Italy
ISBN: 0-7803-0078-5
References Cited: 12
INSPEC Accession Number: 4474225
Digital Object Identifier: 10.1109/ICAR.1991.240405
Current Version Published: 2002-08-06
Abstract
Presents a general solution for the direct kinematics of planar three-degree-of-freedom parallel manipulators. It has been shown elsewhere, using geometric considerations, that this problem can lead to a maximum of six real solutions. The formulation developed leads to a polynomial of the sixth order which is hence minimal. This is illustrated with an example, taken from the literature, for which six real solutions have been found. Moreover, for a special geometry in which the three joints on the platform and on the base are respectively aligned, it is shown that the solution can be cascaded in two steps involving the solution of a cubic and a quadratic respectively. This particular class of planar parallel manipulators can therefore be solved in closed-form and no more than four real solutions have been found in this case. Examples of this class of manipulators are also solved
Link: http://ieeexplore.ieee.org/xpl/freea...&isnumber=6178

01-08-2009, 07:42 PM	#11
kaiju Nhập môn đệ tử Tham gia ngày: Apr 2007 Bài gửi: 1 :	Các bác có thể Download cho em tài liệu này không? Mail của em là kaiju85@yahoo.com Thanks các Bác nhiều ^_^ Polynomial solutions for the direct kinematic problem of planarthree-degree-of-freedom parallel manipulators Gosselin, C.M. Sefrioui, J. Dept. de Genie Mecanique, Laval Univ., Ste-Foy, Que.; This paper appears in: Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on Publication Date: 19-22 Jun 1991 On page(s): 1124-1129 vol.2 Meeting Date: 06/19/1991 - 06/22/1991 Location: Pisa, Italy ISBN: 0-7803-0078-5 References Cited: 12 INSPEC Accession Number: 4474225 Digital Object Identifier: 10.1109/ICAR.1991.240405 Current Version Published: 2002-08-06 Abstract Presents a general solution for the direct kinematics of planar three-degree-of-freedom parallel manipulators. It has been shown elsewhere, using geometric considerations, that this problem can lead to a maximum of six real solutions. The formulation developed leads to a polynomial of the sixth order which is hence minimal. This is illustrated with an example, taken from the literature, for which six real solutions have been found. Moreover, for a special geometry in which the three joints on the platform and on the base are respectively aligned, it is shown that the solution can be cascaded in two steps involving the solution of a cubic and a quadratic respectively. This particular class of planar parallel manipulators can therefore be solved in closed-form and no more than four real solutions have been found in this case. Examples of this class of manipulators are also solved Link: http://ieeexplore.ieee.org/xpl/freea...&isnumber=6178 thay đổi nội dung bởi: kaiju, 02-08-2009 lúc 07:21 PM.