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Published in:
Classification of Parallel Mechanisms Read chapter Read first chapter

2014 | OriginalPaper | Chapter

3. Position Analysis of Parallel Mechanisms

Authors : Xin-Jun Liu, Jinsong Wang

Published in: Parallel Kinematics

Publisher: Springer Berlin Heidelberg

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Abstract

This chapter shows both inverse and direct position analyses of several typical parallel mechanisms including a planar 5R type, a 2-DOF spherical type, two 3-DOF types, and a 6-RUS type. Since for the parallel mechanism, it is more convenient to employ the geometric method to solve its kinematics, the position analysis established upon writing geometric constraint equations for each leg is introduced. In particular, the position analysis of 3-[PP]S type of parallel mechanism in terms of a special orientation description is presented to simplify its kinematics.

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previous chapter Type Synthesis of Parallel Mechanisms
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Literature
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Metadata
Title
Position Analysis of Parallel Mechanisms
Authors
Xin-Jun Liu
Jinsong Wang
Copyright Year
2014
Publisher
Springer Berlin Heidelberg
Book
Parallel Kinematics

Print ISBN: 978-3-642-36928-5

Electronic ISBN: 978-3-642-36929-2

Copyright Year: 2014

DOI
https://doi.org/10.1007/978-3-642-36929-2_3

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