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RESEARCH PAPERS

Real-Time Computation of the Actual Posture of the General Geometry 6-6 Fully-Parallel Mechanism Using Two Extra Rotary Sensors

[+] Author and Article Information
V. Parenti-Castelli

Dept. of Mechanical Engineering, University of Bologna, Viale Risorgimento, 2, 40136 Bologna-Italy

R. Di Gregorio

Institute of Engineering, University of Ferrara, Via Saragat, 1, 44100 Ferrara-Italy

J. Mech. Des 120(4), 549-554 (Dec 01, 1998) (6 pages) doi:10.1115/1.2829313 History: Received February 01, 1996; Revised July 01, 1998; Online December 11, 2007

Abstract

The paper presents three algorithms for the determination of the actual configuration of the general geometry 6-6 fully-parallel mechanism by using two extra rotary sensors in addition to the six ones that are normally implemented in the servosystems of the six actuated legs. The three proposed algorithms provide a one-to-one correspondence between the sensor measurements and the configuration of the mechanism. Comparison of the three algorithms, that are all for real-time computation, is presented and one of them is shown to be a good compromise between precision and computation time.

Copyright © 1998 by The American Society of Mechanical Engineers
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