Forward Kinematics for Hunt - Primrose ParallelManipulatorsHerman
نویسنده
چکیده
This paper gives closed-form solutions (requiring linear and quadratic equations only) for the forward displacement and velocity kinematics of two parallel kinematic chain designs presented by Hunt and Primrose in 1993, 4]. The solutions rely on a simple geometric algorithm that nds the top of a tetrahedron if the base triangle and the lengths of all of its sides are known. The forward kinematics has eight conngurations.
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تاریخ انتشار 2008