| contributor author | Kilryong Han | |
| contributor author | Wankyun Chung | |
| contributor author | Y. Youm | |
| date accessioned | 2017-05-08T23:51:06Z | |
| date available | 2017-05-08T23:51:06Z | |
| date copyright | June, 1996 | |
| date issued | 1996 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27636#214_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/117417 | |
| description abstract | This paper presents a new closed-form resolution scheme of the forward kinematics of parallel manipulators based on two concepts, local structurization and mechanism partition. This scheme is applied to 6-DOF Stewart platform manipulators and the effectiveness of this scheme is verified through numerical examples. It is shown that one extra sensor is sufficient for both 3-3 SPM and 6-3 SPM to exactly resolve the forward kinematic problem (FKP) in closed form and two sensors for 6-6 SPM. In previous research, at least three extra sensors were needed for closed-form resolution of the FKP for 6-6 SPM. Consequently, the new resolution scheme is efficient to implement and easy for real-time applications for the control of parallel manipulators. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | New Resolution Scheme of the Forward Kinematics of Parallel Manipulators Using Extra Sensors | |
| type | Journal Paper | |
| journal volume | 118 | |
| journal issue | 2 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2826872 | |
| journal fristpage | 214 | |
| journal lastpage | 219 | |
| identifier eissn | 1528-9001 | |
| keywords | Kinematics | |
| keywords | Sensors | |
| keywords | Resolution (Optics) | |
| keywords | Manipulators | |
| keywords | Scanning probe microscopy | |
| keywords | Interior walls AND Mechanisms | |
| tree | Journal of Mechanical Design:;1996:;volume( 118 ):;issue: 002 | |
| contenttype | Fulltext | |
