The paper discusses forward and inverse kinematics of a class of 4-dof 4-legged parallel mechanisms providing three rotational and one translational freedoms. 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 arrangement and a numerical example is provided. New special geometries in the class are proposed.
Kinematics equations of a class of 4-dof parallel wrists
ZOPPI, MATTEO;ZLATANOV, DIMITER;
2004-01-01
Abstract
The paper discusses forward and inverse kinematics of a class of 4-dof 4-legged parallel mechanisms providing three rotational and one translational freedoms. 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 arrangement and a numerical example is provided. New special geometries in the class are proposed.
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