A robust forward-displacement analysis of spherical parallel robots |
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| Authors: | Shaoping Bai Michael R Hansen Jorge Angeles |
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| Affiliation: | aDepartment of Mechanical Engineering, Aalborg University, 9200 Aalborg, Denmark;bDepartment of Engineering, University of Agder, Norway;cDepartment of Mechanical Engineering, McGill University, Montreal, Canada |
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| Abstract: | The forward-displacement analysis of spherical parallel robots (SPRs) is revisited. A robust approach, based on the input–output (I/O) equation of spherical four-bar linkages, is proposed. In this approach, the closed-loop kinematic chain of a SPR is partitioned into two four-bar spherical chains, whose I/O equations are at the core of the analysis reported here. These equations lead to a trigonometric equation in the joint angles, which is solved semigraphically to obtain the joint variables for the determination of the moving plate orientation. Examples are included to demonstrate the application of the method. |
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| Keywords: | Spherical parallel robot Forward-displacement analysis Spherical four-bar linkage Input– output equation |
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