On the Direct Kinematics of Spherical Three-Degree-of-Freedom Parallel Manipulators of General Architecture

[+] Author and Article Information
C. M. Gosselin, J. Sefrioui, M. J. Richard

Département de Génie Mécanique, Université Laval, Ste-Foy, Québec, Canada, G1K 7P4

J. Mech. Des 116(2), 594-598 (Jun 01, 1994) (5 pages) doi:10.1115/1.2919419 History: Received November 01, 1990; Revised July 01, 1993; Online June 02, 2008


In this paper, the direct kinematics of general spherical parallel three-degree-of-freedom manipulators is investigated. A polynomial of degree 8 is obtained to describe this problem and it is shown that this polynomial is minimal since 8 real solutions corresponding to actual configurations have been found for a given set of actuator coordinates and a given architecture. This result completes the study on the direct kinematics of spherical three-degree-of-freedom parallel manipulators undertaken by the authors in a previous paper. An example of an architecture and a set of actuator coordinates which lead to 8 real solutions is presented to illustrate the results.

Copyright © 1994 by The American Society of Mechanical Engineers
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