2008•Unpublished venueRequires access

Kinematics Analysis of a 3-dof Rotational Parallel Mechanism

Xiaolin Dai, Qitao Huang, Hongzhou Jiang, Junwei Han

Abstract

A 3-dof rotational parallel mechanism is presented which has three struts and three actuators and is a plasmodium of the Stewart platforms. The kinematics of this robot is derived, and the kinematics analysis is investigated based on analytical solution of the inverse kinematics and numerical solution of the forward kinematics. This mechanism is popular in the fields of simulators and parallel kinematics machines.

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Available abstract

Key concepts: Kinematics, Inverse kinematics, Mechanism (biology), Forward kinematics, Robot kinematics, Kinematics equations, Actuator, Computer science