Name
Title | ||
|---|---|---|
Analytical kinematics models and special geometries of a class of 4-DOF parallel mechanisms |
Abstract | ||
|---|---|---|
The paper discusses forward and inverse kinematics of a class of four-degree-of-freedom (DOF), four-legged parallel mechanisms providing three rotational and one translational DOFs. A fully parametric analytical form solution to the inverse-position problem is provided. All working modes of the mechanism are shown and discussed. The equations of the forward-position problem are obtained under different leg arrangements, and a numerical example is provided. New special geometries in the class are proposed, including one suitable for keyhole surgery. |
Year | DOI | Venue |
|---|---|---|
2005 | 10.1109/TRO.2005.853494 | IEEE Transactions on Robotics |
Keywords | Field | DocType |
inverse problems,legged locomotion,manipulator kinematics,medical robotics,position control,analytical kinematics models,forward kinematics,four-legged parallel mechanisms,inverse kinematics,inverse position problems,surgical robot,Four-degree-of-freedom (DOF) mechanisms,kinematics,parallel mechanisms (PMs),surgical robot | Keyhole,Kinematics,Inverse kinematics,Medical robotics,Control theory,Control engineering,Parametric statistics,Inverse problem,Mathematics,Manipulator kinematics | Journal |
Volume | Issue | ISSN |
21 | 6 | 1552-3098 |
Citations | PageRank | References |
5 | 0.63 | 8 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Matteo Zoppi | 1 | 32 | 13.98 |
| Zlatanov, D. | 2 | 5 | 0.63 |
| C. M. Gosselin | 3 | 264 | 34.94 |