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Classification and Kinematic Modelling of Fully-Parallel Manipulators — A Review

  • V. Parenti-Castelli
Conference paper
Part of the Advanced Manufacturing book series (ADVMANUF)

Abstract

The direct position analysis (DPA) of fully-parallel manipulators, basically comprises the analysis of fully-parallel kinematic chains (FPKCs) that feature two rigid bodies connected to each other via six binary links (legs) through spherical pairs. Some legs may share their endings, thus different leg arrangements are possible. The paper provides the state of the art of the DPA of all possible arrangements. In particular, the paper: i) reviews a procedure for identification and exhaustive enumeration of FPKCs, that led to the identification of twenty-one different FPKCs, and ii) after some basic ideas helpful for the DPA are outlined, reviews a technique that proved to be successful for the DPA solution of several FPKCs. Specifically, the technique focuses on the generation of the closure equations of the manipulator that is a basic stage for accomplishing the DPA solution in analytical form. Closure equations for one manipulator are also reported in order to outline the key role of the aforementioned technique.

Keywords

Parallel Mechanism Kinematic Modelling Connection Point Machine Theory Closure Equation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag London Limited 1999

Authors and Affiliations

  • V. Parenti-Castelli
    • 1
  1. 1.Department of Mechanical EngineeringUniversity of BolognaBolognaItaly

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