Published 2005
| Version v1
Publication
Analytical kinematics models and special geometries of a class of 4-dof parallel mechanisms
- Creators
- ZOPPI, MATTEO
- ZLATANOV, DIMITER
- GOSSELIN, CM
Description
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.
Additional details
- URL
- http://hdl.handle.net/11567/214647
- URN
- urn:oai:iris.unige.it:11567/214647
- Origin repository
- UNIGE