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.

This content is only available via PDF.
You do not currently have access to this content.