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International Conference on Intelligent Robotics and Applications

ICIRA 2012: Intelligent Robotics and Applications pp 271–281Cite as

Analytical Forward Kinematics for Two Kinds of Typical Tripods Part I: Closed-Form Solutions for Forward Kinematics Methods

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7506))

Abstract

The articulated A/B-axis tool heads with parallel structure behave better than the traditional tool heads with serial structure in terms of saving machine processing time and reducing the deformation of the workpiece when they are used in thin wall machining applications for structural aluminium aerospace components. The 3-P VPHS and 3-P VSP parallel mechanisms (where P, R, and S standing for prismatic, revolute, and spherical joints, respectively, and the subscripts V and H indicating that the direction of the P joint is vertical or horizontal, and the joint with underline symbol means the joint is active) are two typical mechanisms that can be applied to articulated A/B-axis tool heads with parallel structure. This paper focuses on these two kinds of typical tripods. Their analytic forward kinematics methods are discussed respectively, and their closed-form solutions for forward kinematics are derived. Further study will disclose that the proposed methods are of high precision, stability and efficiency, and are easy to use, when dealing with the location and error analysis in on line real-time control and the prediction or analysis of their mechanical characteristics.

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Author information

Authors and Affiliations

  1. Department of Precision Instruments and Mechanology, Tsinghua University, Beijing, P.R. China, 100084

    You-Nan Xu, Xin-Jun Liu & Jin-Song Wang

  2. Mechanical & Electronical Engineering, East China Jiaotong University, Nanchang, Jiangxi, P.R. China, 330013

    You-Nan Xu

Authors
  1. You-Nan Xu
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  2. Xin-Jun Liu
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  3. Jin-Song Wang
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Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, Concordia University, H3G 1M8, Montreal, Canada

    Chun-Yi Su

  2. Mechanical and Industrial Engineering, Concordia University, 1515 St. Catherine St. West, Montreal, Quebec, Canada

    Subhash Rakheja

  3. School of Creative Technologies, The University of Portsmouth, PO1 2DJ, Portsmouth, UK

    Honghai Liu

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© 2012 Springer-Verlag Berlin Heidelberg

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Xu, YN., Liu, XJ., Wang, JS. (2012). Analytical Forward Kinematics for Two Kinds of Typical Tripods Part I: Closed-Form Solutions for Forward Kinematics Methods. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7506. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33509-9_26

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  • DOI: https://doi.org/10.1007/978-3-642-33509-9_26

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-33508-2

  • Online ISBN: 978-3-642-33509-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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