کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
838963 | 908377 | 2009 | 8 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Kinematics of an offset 3-UPU translational parallel manipulator by the homotopy continuation method
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی (عمومی)
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Kinematics of an offset 3-UPU translational parallel manipulator by the homotopy continuation method Kinematics of an offset 3-UPU translational parallel manipulator by the homotopy continuation method](/preview/png/838963.png)
چکیده انگلیسی
For most parallel manipulators, the inverse kinematics is straightforward, while the direct kinematics is challenging. The latter requires the solution of a system of nonlinear equations. In this paper we use the homotopy continuation method to solve the forward and inverse kinematic problems of an offset 3-UPU translational parallel manipulator. The homotopy continuation method is a novel method which alleviates drawbacks of the traditional numerical techniques, namely; the acquirement of good initial guess values, the problem of convergence and computing time. The direct kinematics problem of the manipulator leads to 16 real solutions.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Nonlinear Analysis: Real World Applications - Volume 10, Issue 3, June 2009, Pages 1767–1774
Journal: Nonlinear Analysis: Real World Applications - Volume 10, Issue 3, June 2009, Pages 1767–1774
نویسندگان
S.M. Varedi, H.M. Daniali, D.D. Ganji,