Forward kinematics analysis for a class of asymmetrical parallel manipulators

This article focuses on the forward kinematic analysis of a class of asymmetrical parallel manipulators by the proposed elimination approach. To solve the key forward kinematic constraint equations with transcendental parameters of the manipulator, an improved elimination algorithm is presented. Fir...

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Bibliographic Details
Published inInternational journal of advanced robotic systems Vol. 14; no. 1; p. 172988141667813
Main Authors Xu, Qimin, Yang, Yongsheng, Jing, Zhongliang, Hu, Shiqiang
Format Journal Article
LanguageEnglish
Published London, England SAGE Publications 20.02.2017
Sage Publications Ltd
SAGE Publishing
Subjects
Algorithms
Asymmetry
Computing time
Kinematics
Mathematical analysis
Parameters
Polynomials
geometry auxiliary line analysis
improved elimination algorithm
Forward kinematics analysis
asymmetrical VGT manipulator
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Summary:This article focuses on the forward kinematic analysis of a class of asymmetrical parallel manipulators by the proposed elimination approach. To solve the key forward kinematic constraint equations with transcendental parameters of the manipulator, an improved elimination algorithm is presented. First, by analyzing the geometry structure of the manipulator, we find the inherent triangular-topology relations of the manipulator. Further, by utilizing the parameter transformation of angular, the key transcendental equations of forward kinematic analysis are formulated into compact polynomial ones. In this context, comparing with the screw approach by Gallardo-Alvarado suggested that the computation efficiency of our proposed approach is superior. Finally, an example of the asymmetrical variable geometry truss manipulator illustrates the effectiveness of the proposed approach.
ISSN:1729-8814
1729-8806
1729-8814
DOI:10.1177/1729881416678132