Forward displacement analysis of a quadratic spherical parallel manipulator: The Agile Eye

Xianwen Kong, Clément Gosselin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

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 for producing 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. Copyright © 2009 by ASME.

Original languageEnglish
Title of host publicationProceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
Pages1115-1121
Number of pages7
Volume7
EditionPART B
Publication statusPublished - 2010
Event2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - San Diego, CA, United States
Duration: 30 Aug 20092 Sep 2009

Conference

Conference2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Abbreviated titleDETC2009
CountryUnited States
CitySan Diego, CA
Period30/08/092/09/09

Keywords

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

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