A formula that produces a unique solution to the forward displacement analysis of a quadratic spherical parallel manipulator: The agile eye

Xianwen Kong, Clément M. Gosselin

Research output: Contribution to journalArticle

Abstract

A quadratic parallel manipulator refers to a parallel manipulator with a quadratic characteristic polynomial. This paper revisits the forward displacement analysis (FDA) of a quadratic spherical parallel manipulator: the Agile Eye. An alternative formulation of the kinematic equations of the Agile Eye is proposed. The singularity analysis of the Agile Eye is then dealt with. After an alternative solution to the FDA has been presented, a formula is revealed that produces a unique current solution to the FDA for a given set of inputs. A regular cube in the input-space, which is singularity free, is also proposed for the Agile Eye. This work will facilitate the control of the Agile Eye. © 2010 American Society of Mechanical Engineers.

Original languageEnglish
Article number044501
JournalJournal of Mechanisms and Robotics
Volume2
Issue number4
DOIs
Publication statusPublished - 30 Aug 2010

Keywords

  • Forward displacement analysis
  • Parallel mechanism
  • Quadratic parallel mechanism
  • Singularity analysis
  • Spherical parallel mechanism

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