Direct kinematics of 3DOF planar parallel mechanisms: a discussion
RIS ID
17650
Abstract
This paper presents the direct kinematic solutions of 3DOF planar parallel mechanisms, specifically of the 3RRR mechanism. The direct kinematic problem of the mechanism generally results in a polynomial solution. To obtain an analytical (closed-form) solution, it is necessary for the polynomial to be of degree 4 or less. This paper presents a special configuration that reduces the polynomial solution to a 4th degree. This special configuration further decouples the direct kinematics of the position and the orientation of the end-effector into two cascaded quadratic equations. A numerical example is carried out to verify the results of this simplification. The existence of the closed-form solution would increase the accuracy of the direct kinematic solution and improve computational efficiency, as numerical iterative method is not required. This result provides an efficient computational method for a very useful configuration of planar parallel manipulators.
Link to publisher version (URL)
International Conference on Mechatronics and Machine Vision in Practice
Publication Details
Oetomo, D., Liaw, H., Alici, G., Shirinzadeh, B. Zhong, Y. (2006). Direct kinematics of 3DOF planar parallel mechanisms: a discussion. Annual International Conference on Mechatronics and Machine Vision in Practice (pp. 371-383). Manila, Philippines: DLSU.