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The forward kinematics analysis of the six-degree-of-freedom(DOF) spindle-coupled road simulator (SCRS) with a complex hybrid serial-parallel mechanism(HSPM) has been performed. The forward kinematics with an efficient method is significant for control, singularity and workspace analysis of SCRS. Applying the vector matrix theory, the geometric restriction function was expressed in concise and compact...
A novel type of 6-DOF serial-parallel manipulator is proposed. With the application of the matrix theory, the inverse kinematics of the manipulator analyzed and the Jacobian matrix is obtained. Besides, the simulation model is developed in MATLAB/Simulink based on inverse kinematics. In the ending, the correctness of the simulation model is verified by the co-simulation in ADAMS and MATLAB.
In order to improve the accuracy performance of a six degree-of-freedom (DOF) redundantly actuated parallel mechanism (RAPM), a self-calibration method based on sensor redundancy is presented. The kinematic model of the RAPM is built and its 44 identifiable parameters are determined by QR decomposition of the identification matrix. Consequently, the self-calibration algorithm is formulated and the...
A new method, Global Newton-Raphson (GNR), for forward kinematics analysis of six degree–of-freedom (DOF) parallel robots is proposed, in order to obtain direct solutions of parallel robots in real time without divergence. The parallel robot can produce 3-DOF linear motions and 3-DOF angular motions, and feeds back positions of actuators measured by position sensors in real time. The GNR for the robot...
A novel model-based controller for six-degree-of-freedom (DOF) parallel manipulator is proposed in this paper, in order to abatement the influence of platform load variety and compel the steady state errors converge to zero. In this paper, 6-DOF parallel manipulator is described as multi-rigid-body systems, the mathematical model of the 6-DOF parallel manipulator including dynamics based on Kane method...
A novel model-based controller for six degree of freedom (dof) parallel manipulator-PID controller with gravity compensation is developed, in order to improve the control precision of six-dof hydraulic driven parallel manipulator with long stroke hydraulic actuator and heavy load. In this paper, six-dof parallel manipulator is described as a thirteen rigid-body systems. The mathematical model of gravity...
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