8/16/2023 0 Comments Hexa 6 robotRaghavan, D.: The Stewart platform of general geometry has 40 configurations. Lee, T.Y., Shim, J.K.: Forward kinematics for the general Stewart platform using algebraic elimination. 23, 221–235 (2004)īahrami, A., Tafaoli-Masoule, M., Bahrami, M.: Fuzzy control of Piezoelectric Stewart Platform for active vibration control purpose, TSEST, Transaction on Control and Mechanical Systems, pp. Merlet, J.P.: Solving the forward kinematics of a Gough-type parallel manipulator with interval analysis. International Journal of Mechanical, Industrial Science and Engineering 8(1), 72–79 (2014) 134–141 (2011)īahrami, A., Tafaoli, M., Bahrami, N.M.: Fuzzy Logic Based Active Vibration Control of Piezoelectric Stewart Platform. 16, 12–19 (2000)Īrian, B., Mansour, N.B.: Optimal design of a spatial six-cable robot, Proc 2nd IASTED Int. 12, 324–332 (2015)īaron, L., Angeles, J.: The direct kinematics of parallel manipulators under joint-sensor redundancy. Gui, G., Zhang, H., Zhang, D.: Analysis of the kinematic accuracy reliability of a 3 -DOF parallel robot manipulator. The results of this method will be compared to the existing numerical method like the iterative Newton method (INM). After a short presentation of the robot Par4, the FKM is determined using the MDHM method. In the best of our knowledge, the MDHM isn’t applied to the parallel robot Par4 to give a relationship between its operational and articular variables. It is very accurate and provides a unique solution. The MDHM is powerful, useful and can be easily used for the closed loop robots. This method facilitates greatly the forward kinematic problem of parallel robot. In this paper, the FKM of the parallel robot Par4 is determined using the Modified Denavit Hartenberg Method (MDHM). To solve these problems, an analytical method is proposed in this article. But, these have a lot of problems : the divergence caused by the bad choice of the initial condition and providing more than one feasible solution. Most researchers have resorted to the numerical methods. It is very difficult to solve it compared to serial manipulators and it is also hard to obtain its analytic solution. Modeling parallel robots is a famous problem of research especially the Forward Kinematic Model (FKM).
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