RRP-3(SS)マルチループ空間構造の位置解析
Position Analysis of the RRP-3(SS) Multi-Loop Spatial Structure
2つのプラットフォームを1つのRRP連鎖と3つのSS連鎖で結んだ空間構造の位置解析を行い、28次代数方程式を導出してTriceptの順運動学にも応用した。
著者: Carlo Innocenti, Philippe Wenger
分類: cs.RO
原文アブストラクト
The paper presents the position analysis of a spatial structure composed of two platforms mutually connected by one RRP and three SS serial kinematic chains, where R, P, and S stand for revolute, prismatic, and spherical kinematic pair respectively. A set of three compatibility equations is laid down that, following algebraic elimination, results in a 28th-order univariate algebraic equation, which in turn provides the addressed problem with 28 solutions in the complex domain. Among the applications of the results presented in this paper is the solution to the forward kinematics of the Tricept, a well-known in-parallel-actuated spatial manipulator. Numerical examples show adoption of the proposed method in dealing with two case studies.
