Show simple item record

contributor authorLiu, Yujiong
contributor authorKong, Minxiu
contributor authorWan, Neng
contributor authorBen-Tzvi, Pinhas
date accessioned2019-02-28T11:04:22Z
date available2019-02-28T11:04:22Z
date copyright7/18/2018 12:00:00 AM
date issued2018
identifier issn1942-4302
identifier otherjmr_010_05_051013.pdf
identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4252370
description abstractTo obtain the closed-form forward kinematics of parallel robots, researchers use algebra-based method to transform and simplify the constraint equations. However, this method requires a complicated derivation that leads to high-order univariate variable equations. In fact, some particular mechanisms, such as Delta, or H4 possess many invariant geometric properties during movement. This suggests that one might be able to transform and reduce the problem using geometric approaches. Therefore, a simpler and more efficient solution might be found. Based on this idea, we developed a new geometric approach called geometric forward kinematics (GFK) to obtain the closed-form solutions of H4 forward kinematics in this paper. The result shows that the forward kinematics of H4 yields an eighth degree univariate polynomial, compared with earlier reported 16th degree. Thanks to its clear physical meaning, an intensive discussion about the solutions is presented. Results indicate that a general H4 robot can have up to eight nonrepeated real solutions for its forward kinematics. For a specific configuration of H4, the nonrepeated number of real roots could be restricted to only two, four, or six. Two traveling plate configurations are discussed in this paper as two typical categories of H4. A numerical analysis was also performed for this new method.
publisherThe American Society of Mechanical Engineers (ASME)
titleA Geometric Approach to Obtain the Closed-Form Forward Kinematics of H4 Parallel Robot
typeJournal Paper
journal volume10
journal issue5
journal titleJournal of Mechanisms and Robotics
identifier doi10.1115/1.4040703
journal fristpage51013
journal lastpage051013-9
treeJournal of Mechanisms and Robotics:;2018:;volume( 010 ):;issue: 005
contenttypeFulltext


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record