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Volume 40 Issue 4
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Journal of Beijing University of Aeronautics and Astronautics  > 2014  >  40(4): 461-466.
Zhou Wanyong, Chen Wuyi, Liu Huadonget al. General forward kinematic algorism for three-chain parallel manipulator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(4): 461-466. doi: 10.13700/j.bh.1001-5965.2013.0337(in Chinese)
Citation: Zhou Wanyong, Chen Wuyi, Liu Huadonget al. General forward kinematic algorism for three-chain parallel manipulator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(4): 461-466. doi: 10.13700/j.bh.1001-5965.2013.0337(in Chinese)
shu

General forward kinematic algorism for three-chain parallel manipulator

doi: 10.13700/j.bh.1001-5965.2013.0337

  • 1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;

  • 2. Beijing Aeronautical Manufacturing Technology Research Institute, Beijing 100024, China

  • Received Date: 13 Jun 2013
  • Publish Date: 20 Apr 2014
    Abstract
  • To solve the problem that actual geometric parameters are not equal to nominal ones in parallel manipulator, a general forward kinematic algorism, containing all of the geometric parameters, was proposed. The general 3RPS parallel manipulator, with compound spherical joints, was taken as an example. The manipulator consists of a base platform, a mobile platform and three chains, and every chain is a 5-DOF serial manipulator with only 1-DOF being active. The algorism is based on dual quaternion and DH method and contains a total of 78 geometric parameters, and hence it is able to be used for accuracy analysis, accuracy synthesis, accuracy calibration and accurate kinematic simulation of parallel manipulator. Finally, the precise, stability and rapidness of the algorism were verified through iterative calculation. The forward kinematic algorism of 3RPS, 3_5R, 3_RPUR, 3_RPRRR,and so on can be expressed in a same form on the basis of the proposed algorism.

     

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