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Volume 31 Issue 04
Apr.  2005
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Journal of Beijing University of Aeronautics and Astronautics  > 2005  >  31(04): 421-424.
Cao Juanjuan, Fang Jiancheng, Sheng Weiet al. Modeling and semi-physical simulation of in-flight alignment for MIMU under large heading error[J]. Journal of Beijing University of Aeronautics and Astronautics, 2008, 34(01): 63-66. (in Chinese)
Citation: Pei Baoqing, Han Xianguo, Chen Wuyiet al. Solution of direct kinematics of 6-DOF parallel manipulators using extra sensors[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(04): 421-424. (in Chinese)
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Solution of direct kinematics of 6-DOF parallel manipulators using extra sensors

  • School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

  • Received Date: 17 Oct 2003
  • Publish Date: 30 Apr 2005
    Abstract
  • The direct kinematics problem of a 6-DOF parallel manipulator is difficult and there is usually not a unique solution. Different methods of handling the direct kinematics problem were discussed. Two common approaches to find the solution directly are using an iterative numerical procedure or using the extra sensors. Two types of extra sensors can be used, rotary and linear, but they are used in different configurations. The accuracy and complexity of the computations for the direct kinematics vary with different configurations of the sensors. Purpose is to determine how to add sensors to the manipulators, and find their number and their location, together with the procedure to get the posture of the platform. A simple configuration of the sensors was proposed together with the procedure to get the posture of the mobile platform. With the length of the 6 links and 4 rotary sensors or 3 linear sensors, posture of the mobile platform can be determined uniquely.

     

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