Volume no :1, Issue no: 2, April (2010)

A NOVEL APPROXIMATION ALGORITHM FOR THE FORWARD DISPLACEMENT ANALYSIS OF THE 6-DOF PARALLEL MANIPULATOR

Author's: Yongjie Zhao
Pages: [147] - [165]
Received Date: April 26, 2010
Submitted by:

Abstract

In this paper, the forward displacement problem of 6-dof parallel manipulator is transformed into a new equivalent one, and then a novel approximation algorithm with an obvious physical significance is adopted to solve it. The characteristic of the presented algorithm is that, its convergence domain is bigger than that of the general approximation algorithm. Numerical simulation is illustrated to verify the validity and effectiveness of the algorithm. The proposed method is general and can be used for the forward displacement analysis of the parallel manipulator actuated by the revolute joint.

Keywords

parallel manipulator, forward displacement analysis, approximation algorithm.