A Study on the Kinematics of a Class of Parallel Manipulators

  • B. Siciliano

Abstract

The goal of this work is to present a study on the kinematics of a class of parallel manipulators having a radial link of variable length. The inverse kinematics equation is characterized by using spherical coordinates. The inverse differential kinematics and statics are derived in terms of both an analytical and a geometric Jacobian, and a manipulability analysis along the various workspace directions is developed. A Jacobian-based algorithm is presented to solve the direct kinematics problem along a given trajectory. Simulation results are illustrated.

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Copyright information

© Springer Science+Business Media Dordrecht 1998

Authors and Affiliations

  • B. Siciliano
    • 1
  1. 1.PRISMA Lab Dipartimento di Informatica e SistemisticaUniversità degli Studi di Napoli Federico IINapoliItaly

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