New Resolution Scheme of the Forward Kinematics of Parallel Manipulators Using Extra Sensors

[+] Author and Article Information
Kilryong Han

Samsung Electronics Co., Ltd

Wankyun Chung, Y. Youm

School of Mechanical Engineering, Pohang University of Science and Technology, San 31 Hyoja dong, Pohang, 790-784, Korea

J. Mech. Des 118(2), 214-219 (Jun 01, 1996) (6 pages) doi:10.1115/1.2826872 History: Received December 01, 1994; Revised September 01, 1995; Online December 11, 2007


This paper presents a new closed-form resolution scheme of the forward kinematics of parallel manipulators based on two concepts, local structurization and mechanism partition. This scheme is applied to 6-DOF Stewart platform manipulators and the effectiveness of this scheme is verified through numerical examples. It is shown that one extra sensor is sufficient for both 3-3 SPM and 6-3 SPM to exactly resolve the forward kinematic problem (FKP) in closed form and two sensors for 6-6 SPM. In previous research, at least three extra sensors were needed for closed-form resolution of the FKP for 6-6 SPM. Consequently, the new resolution scheme is efficient to implement and easy for real-time applications for the control of parallel manipulators.

Copyright © 1996 by The American Society of Mechanical Engineers
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