Kinematics and Workspace of a Novel Three DOF Translational Platform

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dc.contributor.authorTsai, L-W.en_US
dc.contributor.authorWalsh, G.C.en_US
dc.contributor.authorStamper, R.E.en_US
dc.contributor.departmentISRen_US
dc.date.accessioned2007-05-23T10:02:17Z
dc.date.available2007-05-23T10:02:17Z
dc.date.issued1996en_US
dc.description.abstractA novel 2 DOF parallel manipulator is presented that employs only resolute joints and constrains the manipulator output to translational motion. Closed-form solutions are developed for both the inverse kinematics produces four solutions for each leg of the manipulator. In general, the four solutions are realized in only two unique leg configurations. The forward kinematic solution is reduced to a quadratic equation. So that in general, there are two poses the manipulator can assume for a given set of input joint angles. The manipulator workspace is also determined for a manipulator with fixed and moving platforms of the same size.en_US
dc.format.extent642229 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/5790
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1996-74en_US
dc.subjectkinematicsen_US
dc.subjectroboticsen_US
dc.subjectIntelligent Control Systemsen_US
dc.titleKinematics and Workspace of a Novel Three DOF Translational Platformen_US
dc.typeTechnical Reporten_US

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