| contributor author | Xianwen Kong | |
| contributor author | Clément M. Gosselin | |
| date accessioned | 2017-05-09T00:39:51Z | |
| date available | 2017-05-09T00:39:51Z | |
| date copyright | November, 2010 | |
| date issued | 2010 | |
| identifier issn | 1942-4302 | |
| identifier other | JMROA6-28005#044501_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/144308 | |
| description abstract | A quadratic parallel manipulator refers to a parallel manipulator with a quadratic characteristic polynomial. This paper revisits the forward displacement analysis (FDA) of a quadratic spherical parallel manipulator: the Agile Eye. An alternative formulation of the kinematic equations of the Agile Eye is proposed. The singularity analysis of the Agile Eye is then dealt with. After an alternative solution to the FDA has been presented, a formula is revealed that produces a unique current solution to the FDA for a given set of inputs. A regular cube in the input-space, which is singularity free, is also proposed for the Agile Eye. This work will facilitate the control of the Agile Eye. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Formula That Produces a Unique Solution to the Forward Displacement Analysis of a Quadratic Spherical Parallel Manipulator: The Agile Eye | |
| type | Journal Paper | |
| journal volume | 2 | |
| journal issue | 4 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4002077 | |
| journal fristpage | 44501 | |
| identifier eissn | 1942-4310 | |
| keywords | Displacement | |
| keywords | Formulas | |
| keywords | Frequency-domain analysis AND Manipulators | |
| tree | Journal of Mechanisms and Robotics:;2010:;volume( 002 ):;issue: 004 | |
| contenttype | Fulltext | |