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. © 2018 by the authors.
Kinematics analysis of a class of spherical PKMs by projective angles
Legnani G.;Fassi I.
2018-01-01
Abstract
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. © 2018 by the authors.File in questo prodotto:
File | Dimensione | Formato | |
---|---|---|---|
robotics-07-00059ProjectiveAngleseSphericalPKM.pdf
accesso aperto
Tipologia:
Full Text
Licenza:
DRM non definito
Dimensione
2.53 MB
Formato
Adobe PDF
|
2.53 MB | Adobe PDF | Visualizza/Apri |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.