Title : ( A novel approach for forward position analysis of a double-triangle spherical parallel manipulator )
Authors: Javad Enferadi , Alireza Akbarzadeh Tootoonchi ,
Full TextAbstract
In this paper, we introduce a new approach for forward position analysis of a double-triangle (DT) spherical parallel manipulator. Utilizing spherical geometry of the manipulator, two coupled trigonometric equations are obtained through using special form of Rodrigues formula. Next, the two coupled equations are solved using Bezout’s elimination method which leads to a polynomial of eight degree. Finally, we provide an example having eight real solutions, the polynomial thus being minimal.
Keywords
Spherical parallel manipulator Forward position analysis Rodrigues formula Bezout’s elimination method
@article{paperid:1015250,
author = {Enferadi, Javad and Akbarzadeh Tootoonchi, Alireza},
title = {A novel approach for forward position analysis of a double-triangle spherical parallel manipulator},
journal = {European Journal of Mechanics A-Solids},
year = {2010},
volume = {29},
number = {3},
month = {July},
issn = {0997-7538},
pages = {348--355},
numpages = {7},
keywords = {Spherical parallel manipulator
Forward position analysis
Rodrigues formula
Bezout’s elimination method},
}
%0 Journal Article
%T A novel approach for forward position analysis of a double-triangle spherical parallel manipulator
%A Enferadi, Javad
%A Akbarzadeh Tootoonchi, Alireza
%J European Journal of Mechanics A-Solids
%@ 0997-7538
%D 2010
