The Kinematics of Spatial Double-Triangular Parallel Manipulators

[+] Author and Article Information
H. R. Mohammadi Daniali, P. J. Zsombor-Murray, J. Angeles

McGill Centre for Intelligent Machines & Department of Mechanical Engineering, McGill University, 817 Sherbrooke Street West, Montreal, Canada H3A 2K6

J. Mech. Des 117(4), 658-661 (Dec 01, 1995) (4 pages) doi:10.1115/1.2826739 History: Received June 01, 1994; Revised June 01, 1995; Online December 11, 2007


Two versions of spatial double-triangular mechanisms are introduced, one with three and one with six degrees of freedom. Using dual-number quaternion algebra, a formula for the direct kinematics of these manipulators is derived. Numerical examples are included.

Copyright © 1995 by The American Society of Mechanical Engineers
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