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RISPosition and stiffness analysis of a new asymmetric 2PRR–PPR parallel CNC machine
control (CNC) machine. First, the structure of the robot is introduced and inverse kinematics solution is presented. Secondly, stiffness matrix of the robot is determined using a continuous method based on Castigliano’s theorem and calculation of strain...
Inverse kinematics of a 7 DOF redundant robot manipulator using active set approach under joint physical limits
This paper presents a new approach to online solution of inverse kinematics problem based on nonlinear optimization for robots with joints physical constraints. The inverse kinematics problem is stated as a constrained nonlinear optimization problem...
Close form Solutions for Inverse and Direct Position Analysis of a Special 3-PSP Parallel Manipulator
This paper presents the direct and inverse kinematics
solutions for a 3-DOF special 3-PSP parallel
manipulator. The 3-PSP mechanism consists of two
rigid bodies, a movable platform (formed like a star)
and a fixed base...
Accuracy and stiffness analysis of a 3-RRP spherical parallel manipulator
, 2009, pp. 663–676) with symmetrical geometry is investigated. At first, the 3-RRP SPM is introduced and its inverse kinematics analysis is performed. Isotropic design, because of its design superiority, is selected and workspace of the manipulator...