Abstract
This paper presents the direct position analysis in analytical form of the general fully in-parallel actuated six degrees-;of-freedom manipulator having geometric uncoupling between position and orientation of the platform. The analysis, performed in two steps, leads first to a 2nd order polynomial equation in one unknown for the position of the platform reference point; then, for each position, an 8th order polynomial equation in one unknown can be solved for the orientation of the platform. Consequently, the mechanism can be assembled at most in 16 configurations. An example is reported for illustrating the new theoretical results.
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© 1992 Springer Science+Business Media Dordrecht
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Innocenti, C., Parenti-Castelli, V. (1992). Direct Kinematics of the 6-4 Fully Parallel Manipulator with Position and Orientation Uncoupled. In: Tzafestas, S.G. (eds) Robotic Systems. Microprocessor-Based and Intelligent Systems Engineering, vol 10. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-2526-0_1
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DOI: https://doi.org/10.1007/978-94-011-2526-0_1
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-5115-6
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