期刊名称：Journal of Theoretical and Applied Information Technology
印刷版ISSN：1992-8645
电子版ISSN：1817-3195
出版年度：2013
卷号：48
期号：1
页码：370-377
出版社：Journal of Theoretical and Applied
摘要：This paper deals with closed form solutions for the inverse and forward position analyses of a 3-SPR parallel mechanism, which can be used to form the main body of a 5-DOF hybrid robot manipulator. In the inverse position analysis, a fourth order polynomial equation has been formulated, leading to four set of solutions of limb lengths for a given position of the reference point on the platform. In the forward position analysis, a sixteenth order polynomial equation has been derived, leading to four sets of mirror poses given a set of limb lengths. Consequently, the complete sets of solutions for the inverse and forward position analyses of the mechanism have been achieved. An example is given to illustrate the effectiveness of this approach.
关键词：3-SPR Parallel Mechanism; Forward and Inverse Position Analyses
