Forward position analysis of HexaSlide parallel manipulators
碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 94 === The purpose of this study is to determine analytical solutions to the forward position analysis of the six degree-of-freedom parallel manipulator HexaSlide. A HexaSlide parallel manipulator may take the following three forms: Hexaglide, HexaM, and Linapod. The...
| Main Authors: | , |
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2004
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| Online Access: | http://ndltd.ncl.edu.tw/handle/37245715063287266460 |
| Summary: | 碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 94 === The purpose of this study is to determine analytical solutions to the forward position analysis of the six degree-of-freedom parallel manipulator HexaSlide. A HexaSlide parallel manipulator may take the following three forms: Hexaglide, HexaM, and Linapod. The solution procedure suggested in this research may deal with any of these three forms. A HexaSlide manipulator is fist transformed into its equivalent mechanism, that is, an inclined 3RS parallel manipulator; then the condition that the three spherical joints on the moving platform form an equilateral triangle leads us to obtain three polynomial equations in three unknowns. These equations are solved by using Sylvester dialytic elimination method. Each set of real roots correspond to a movimg Platform’s position. A method to determine if the links are crossed is also developed in this study. Solutions so obtained are verified by performing inverse position analysis.
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