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closed-form kinematics

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A new closed-form kinematics of the generalized 3-DOF spherical parallel manipulator
Zhen Huang, Y. Lawrence Yao
Journal:

Robotica / Volume 17 / Issue 5 / September 1999

Published online by Cambridge University Press:

01 September 1999, pp. 475-485
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This paper presents a new method to analyze the closed-form kinematics of a generalized three-degree-of-a-freedom spherical parallel manipulator. Using this analytical method, concise and uniform solutions are achieved. Two special forms of the three-degree-of-freedom spherical parallel manipulator, i.e. right-angle type and a decoupled type, are also studied and their unique and interesting properties are investigated, followed by a numerical example.