Forward kinematic solution and its applications for a 3-DOF parallel kinematic machine (PKM) with a passive link

Authors:
Z. M. Bi;S. Y. T. Lang
Affiliations:
Integrated Manufacturing Technologies Institute, National Research Council, London, ON, Canada, N6G 4X8;Integrated Manufacturing Technologies Institute, National Research Council, London, ON, Canada, N6G 4X8
Venue:
Robotica
Year:
2006

Citing 8
Cited 0

Direct kinematics and assembly modes of parallel manipulators

International Journal of Robotics Research
Kinematic isotropy and the conditioning index of serial robotic manipulators

International Journal of Robotics Research
A real world object modeling method for creating simulation environment of real-time systems

OOPSLA '00 Proceedings of the 15th ACM SIGPLAN conference on Object-oriented programming, systems, languages, and applications
Optimum design of parallel kinematic toolheads with genetic algorithms

Robotica
Parallel kinematic machine design with kinetostatic model

Robotica
Development of a sliding-leg tripod as an add-on device for manufacturing

Robotica
On adaptive robot systems for manufacturing applications

On adaptive robot systems for manufacturing applications
The Tricept robot: Inverse kinematics, manipulability analysis and closed-loop direct kinematics algorithm

Robotica

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper, a 3-DOF parallel kinematic machine (PKM) with a passive link is introduced. The forward kinemaic model is established, and a new technique is proposed to solve this model. The developed forward kinematic solver (FKS) is employed in two new applications: the determination of joint workspace and sensor-based real-time monitoring. A joint workspace concept is proposed for the optimization of a PKM structure. It is defined as a reachable area in the joint coordinate system under given ranges of active joint motions. The larger a joint workspace is, the higher utilization of joint motion capacity is. Sensor-based monitoring is applied in real-time system operation, by which a remote user can monitor a PKM through Internet based on the feedbacks of the joint encoders or the on-site stereo camera.