Abstract
It is well known that the forward kinematics of parallel robots is a very difficult problem. Closed-form forward kinematics solutions have been reported only to a few special classes of parallel robots. This paper presents closed-form forward kinematics solutions of a 4-DOF parallel robot H4. A 16th order polynomial in a single variable is derived to solve the forward kinematics of the H4. The 16 roots of the polynomial lead to at most 16 different forward kinematics solutions. A numerical verification is also presented.
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Recommended by Editorial Board member Yangmin Li under the direction of Editor Jae-Bok Song.
Hee-Byoung Choi received the B.S., and M.S. degrees in Mechanical Design from Chonbuk National University in 1998, and 2001, respectively and the Ph.D. degree in Department of Aerospace Engineering from Tohoku University, Sendai, Japan in 2004. From 2004 to 2008, he worked for Samsung Heavy Industries Co., Ltd. as a Senior Engineer. Currently, he is a research professor with Intelligent Systems Research Center, Sungkyunkwan University. His research interests include design, kinematics, dynamics of parallel manipulator, and industrial applications.
Atsushi Konno received the B.Eng., M.Eng., and Ph.D. degrees from the Tohoku University, Sendai, Japan, in 1988, 1990, and 1993, respectively, all in Precision Engineering. He was a research associate at Tohoku University from 1993 to 1995, and a research associate at University of Tokyo from 1995 to 1998. Since 1998, he has been with the School of Engineering, Tohoku University, Sendai, Japan and currently is an Associate Professor of the Space Machines Laboratory, Department of Aeronautics and Space Engineering. His research interests include humanoid robots and their applications.
Masaru Uchiyama received the B.Eng., M.Eng., and Ph.D. degrees from the University of Tokyo, Tokyo, Japan, in 1972, 1974, and 1977, respectively, all in Mechanical Engineering for Production. Since 1977, he has been with the School of Engineering, Tohoku University, Sendai, Japan and currently is a Professor of the Space Machines Laboratory, Department of Aerospace Engineering. He was a Visiting Fellow at the University of Newcastle upon Tyne, England, from 1982 to 1983, a Visiting Professor at the University of California, Santa Barbara, USA, from 1986 to 1987, and a Visiting Professor at the Institute of Space and Astronautical Science, Japan, from 1999 to 2002. His research interests include robotics, automatic control and their application to aerospace engineering.
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Choi, HB., Konno, A. & Uchiyama, M. Closed-form forward kinematics solutions of a 4-DOF parallel robot. Int. J. Control Autom. Syst. 7, 858–864 (2009). https://doi.org/10.1007/s12555-009-0520-1
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DOI: https://doi.org/10.1007/s12555-009-0520-1