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 language | English |
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| Title of host publication | Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009 |
| Pages | 1115-1121 |
| Number of pages | 7 |
| Volume | 7 |
| Edition | PART B |
| Publication status | Published - 2010 |
| Event | 2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - San Diego, CA, United States Duration: 30 Aug 2009 → 2 Sept 2009 |
Conference
| Conference | 2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
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| Abbreviated title | DETC2009 |
| Country/Territory | United States |
| City | San Diego, CA |
| Period | 30/08/09 → 2/09/09 |
Keywords
- Forward displacement analysis
- Parallel mechanism
- Quadratic parallel mechanism
- Singularity analysis
- Spherical parallel mechanism