Abstract

Using the concept of measurement subspaces of the leg-end-point position of general parallel manipulators, a linear kinematic model is derived. For a class of 6-dof leg-kinematic architectures of general geometry, the sets of sensed joints that lead to a measurement subspace are classified into 16 different types. For each of these types, a geometric interpretation and the equations for the computation of the measurement subspace from the readouts of a set of sensed joints, are provided. The design rules on the sensing of parallel manipulators in order to obtain the linear kinematic model are also derived.

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