Direct kinematics of a 6-pus parallel robot using a numeric-geometric method uri icon

Abstract

  • A numerical method to solve the direct kinematics of the 6-PUS parallel robot is presented. This method is based on a simplified geometry of the robot, in such a way that each pair of limbs forms a triangle, the locus of the top vertex of this triangle is an arc. Results of the implementation of the algorithm are presented. © 2013 IEEE.

Publication date

  • December 1, 2013