0000000000135299

AUTHOR

Jorge Angeles

showing 2 related works from this author

Erratum to ‘A Robust Forward-Displacement Analysis of Spherical Parallel Robots’ [Mech. Mach. Theory, 2009, 44(12), pp. 2204–2216]

2012

symbols.namesakeClassical mechanicsMach numberMechanics of MaterialsComputer scienceMechanical EngineeringForward displacement analysisParallel manipulatorsymbolsBioengineeringComputer Science ApplicationsMechanism and Machine Theory
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A robust forward-displacement analysis of spherical parallel robots

2009

The forward-displacement analysis of spherical parallel robots (SPRs) is revisited. A robust approach, based on the input–output (I/O) equation of spherical four-bar linkages, is proposed. In this approach, the closed-loop kinematic chain of a SPR is partitioned into two four-bar spherical chains, whose I/O equations are at the core of the analysis reported here. These equations lead to a trigonometric equation in the joint angles, which is solved semigraphically to obtain the joint variables for the determination of the moving plate orientation. Examples are included to demonstrate the application of the method.

Input/outputKinematic chainEngineeringbusiness.industryMechanical EngineeringMathematical analysisParallel manipulatorBioengineeringFour-bar linkageComputer Science ApplicationsBall jointMechanics of MaterialsOrientation (geometry)TrigonometrybusinessJoint (geology)Simulation
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