摘要：This paper presents the kinematics analysis of a class of spherical PKMs Parallel Kinematics Machines exploiting a novel approach. The analysis takes advantage of the properties of the projective angles, which are a set of angular conventions of which their properties have only recently been presented. Direct, inverse kinematics and singular configurations are discussed. The analysis, which results in the solution of easy equations, is developed at position, velocity and acceleration level.
关键词：projective angles; spherical PKM; direct kinematics; inverse kinematics projective angles ; spherical PKM ; direct kinematics ; inverse kinematics
Loading...
