Forward displacement analysis of a 2-DOF RR-RRR-RRR spherical parallel manipulator

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Abstract

Spherical parallel manipulators can be used as wrists or hip joints of humanoid robots. This paper deals with the forward displacement analysis (FDA) of a 2-DOF RR-RRR-RRR spherical parallel manipulator. The kinematic equations of the 2-DOF SPM are formulated at first. The singularity analysis of the 2-DOF SPM is then dealt with. After a closed-form solution to the FDA has been presented, a formula that produces a unique current solution to the FDA is revealed for the 2-DOF spherical parallel manipulator. A regular square in the input space, which is singularity free, is also proposed for the 2-DOF SPM. This work will facilitate the control of the 2-DOF SPM. © 2010 IEEE.

Original languageEnglish
Title of host publicationProceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010
Pages446-451
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - QingDao, China
Duration: 15 Jul 201017 Jul 2010

Conference

Conference2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications
Abbreviated titleMESA 2010
CountryChina
CityQingDao
Period15/07/1017/07/10

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  • Cite this

    Kong, X. (2010). Forward displacement analysis of a 2-DOF RR-RRR-RRR spherical parallel manipulator. In Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010 (pp. 446-451) https://doi.org/10.1109/MESA.2010.5551993