ScholarLens Back to search
2006•Machine Design and ResearchRequires access

A Forward Kinematics Solution Method of 6-SPS Parallel Manipulator

Yanbin Liu, Han Xiu-ying

Open publisher page 0 citations

Abstract

After the forward kinematics of a 6-SPS parallel manipulator was researched,a kinematic modeling and its direct solution method was presented.By using its branch bar characteristic,and taking two independent orientation cosine and flex length of the bar as the bar's generalized coordinates,the kinematic model of the 6-SPS parallel manipulator was derived.Hence then it was put forward that the kinematic model was directly solved on basis of Moore-Penrose inverse Newton's iterative solution,and the corresponding MATLAB iterative solution program was worked out.Numerical simulation of forward kinematics of 6-SPS parallel manipulator is done by MATLAB,it is proved that the above mentioned forward kinematics solution program of 6-SPS parallel manipulator is effective and rapid.

About this research paper

What this paper is about

After the forward kinematics of a 6-SPS parallel manipulator was researched,a kinematic modeling and its direct solution method was presented.By using its branch bar characteristic,and taking two independent orientation cosine and flex length of the bar as the bar's generalized coordinates,the kinematic model of the 6-SPS parallel manipulator was derived.Hence then it was put forward that the kinematic model was directly solved on basis of Moore-Penrose inverse Newton's iterative solution,and the corresponding MATLAB iterative solution program was worked out.Numerical simulation of forward kinematics of 6-SPS parallel manipulator is done by MATLAB,it is proved that the above mentioned forward kinematics solution program of 6-SPS parallel manipulator is effective and rapid.

Why it matters

A significance statement is not available in the OpenAlex record.

Key contribution

A contribution statement is not available in the OpenAlex record.

Method / approach

Method details are not available in the OpenAlex metadata.

Main findings

Findings are not separately available in the OpenAlex metadata.

Limitations

Limitations are not available in the OpenAlex metadata.

Applications

Application details are not available in the OpenAlex metadata.

Available abstract

After the forward kinematics of a 6-SPS parallel manipulator was researched,a kinematic modeling and its direct solution method was presented.By using its branch bar characteristic,and taking two independent orientation cosine and flex length of the bar as the bar's generalized coordinates,the kinematic model of the 6-SPS parallel manipulator was derived.Hence then it was put forward that the kinematic model was directly solved on basis of Moore-Penrose inverse Newton's iterative solution,and the corresponding MATLAB iterative solution program was worked out.Numerical simulation of forward kinematics of 6-SPS parallel manipulator is done by MATLAB,it is proved that the above mentioned forward kinematics solution program of 6-SPS parallel manipulator is effective and rapid.

Key concepts: Kinematics, Parallel manipulator, Forward kinematics, Inverse kinematics, Kinematics equations, MATLAB, Iterative method, Computer science

Related papers

Related paper 1Related paper 2Related paper 3
Back to paper searchBrowse research topicsOriginal source
A Forward Kinematics Solution Method of 6-SPS Parallel Manipulator — Research Paper | ScholarLens