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

Xianwen Kong

doi:10.1109/MESA.2010.5551993

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

Xianwen Kong

School of Engineering & Physical Sciences

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

16 Citations (Scopus)

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 language	English
Title of host publication	Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010
Pages	446-451
Number of pages	6
DOIs	https://doi.org/10.1109/MESA.2010.5551993
Publication status	Published - 2010
Event	2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - QingDao, China Duration: 15 Jul 2010 → 17 Jul 2010

Conference

Conference	2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications
Abbreviated title	MESA 2010
Country/Territory	China
City	QingDao
Period	15/07/10 → 17/07/10

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10.1109/MESA.2010.5551993

Cite this

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title = "Forward displacement analysis of a 2-DOF RR-RRR-RRR spherical parallel manipulator",

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. {\textcopyright} 2010 IEEE.",

author = "Xianwen Kong",

year = "2010",

doi = "10.1109/MESA.2010.5551993",

language = "English",

isbn = "9781424471010",

pages = "446--451",

booktitle = "Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010",

note = "2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010 ; Conference date: 15-07-2010 Through 17-07-2010",

}

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, 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, QingDao, China, 15/07/10. https://doi.org/10.1109/MESA.2010.5551993

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T1 - Forward displacement analysis of a 2-DOF RR-RRR-RRR spherical parallel manipulator

AU - Kong, Xianwen

PY - 2010

Y1 - 2010

N2 - 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.

AB - 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.

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U2 - 10.1109/MESA.2010.5551993

DO - 10.1109/MESA.2010.5551993

M3 - Conference contribution

SN - 9781424471010

SP - 446

EP - 451

BT - Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010

T2 - 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications

Y2 - 15 July 2010 through 17 July 2010

ER -

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

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