A novel approach for forward position analysis of a double-triangle spherical parallel manipulator

In this paper, we introduce a new approach for forward position analysis of a double-triangle (DT) spherical parallel manipulator. Utilizing spherical geometry of the manipulator, two coupled trigonometric equations are obtained through using special form of Rodrigues formula. Next, the two coupled...

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Veröffentlicht in:European journal of mechanics, A, Solids A, Solids, 2010-05, Vol.29 (3), p.348-355
Hauptverfasser: Enferadi, Javad, Tootoonchi, Alireza Akbarzadeh
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Sprache:eng
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Zusammenfassung:In this paper, we introduce a new approach for forward position analysis of a double-triangle (DT) spherical parallel manipulator. Utilizing spherical geometry of the manipulator, two coupled trigonometric equations are obtained through using special form of Rodrigues formula. Next, the two coupled equations are solved using Bezout's elimination method which leads to a polynomial of eight degree. Finally, we provide an example having eight real solutions, the polynomial thus being minimal.
ISSN:0997-7538
1873-7285
DOI:10.1016/j.euromechsol.2009.12.001