Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
774423 | European Journal of Mechanics - A/Solids | 2010 | 8 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Engineering
Mechanical Engineering
Authors
Javad Enferadi, Alireza Akbarzadeh Tootoonchi,