M. Zoppi, L.E. Bruzzone, and R.M. Molfino
Parallel robots, translational architectures, kinematics
The formulation of the forward position analysis of parallel kinematics mechanisms (PMs) is in most cases very complex. The authors propose a general explicit solution to the problem for a wide class of 3-DOF translational architectures, the tetrahedral mechanisms. The class gathers pure translational parallel mechanisms satisfying three hypotheses on geometry and mobility. No assumption is made about symmetry; the actuation can be redundant or nonredundant. Explanatory examples are discussed.
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