TY - GEN
T1 - The kinematics and calibration of a 5 degrees-of-freedom hybrid serial-parallel kinematics manipulator
AU - El-Khasawneh, Bashar Sami
PY - 2012
Y1 - 2012
N2 - Hybrid serial-parallel link manipulators combine the advantages and eliminate disadvantages of their ancestors the pure parallel or serial kinematics manipulators. The particular type of hybrid machine shown in this paper consists of two planar three degrees-of-freedom manipulators assembled together in a special configuration. This paper developed the kinematic analysis of this mechanism, namely the inverse and forward kinematics of these manipulators. Furthermore, this paper developed a calibration model for this type of manipulators, and calibration model results were very promising. A graphical tool was developed to assist user in visualizing postures and for solving the different kinematics problems.
AB - Hybrid serial-parallel link manipulators combine the advantages and eliminate disadvantages of their ancestors the pure parallel or serial kinematics manipulators. The particular type of hybrid machine shown in this paper consists of two planar three degrees-of-freedom manipulators assembled together in a special configuration. This paper developed the kinematic analysis of this mechanism, namely the inverse and forward kinematics of these manipulators. Furthermore, this paper developed a calibration model for this type of manipulators, and calibration model results were very promising. A graphical tool was developed to assist user in visualizing postures and for solving the different kinematics problems.
KW - Calibartion
KW - Hybrid Kinematics
KW - Kinematics of Machinery
KW - Machine tools
KW - Serial-Parallel link Manipulators
KW - Stewart-Gough Platform
UR - http://www.scopus.com/inward/record.url?scp=84863687602&partnerID=8YFLogxK
U2 - 10.1109/ISMA.2012.6215166
DO - 10.1109/ISMA.2012.6215166
M3 - Conference contribution
AN - SCOPUS:84863687602
SN - 9781467308625
T3 - 2012 8th International Symposium on Mechatronics and its Applications, ISMA 2012
BT - 2012 8th International Symposium on Mechatronics and its Applications, ISMA 2012
T2 - 2012 8th International Symposium on Mechatronics and its Applications, ISMA 2012
Y2 - 10 April 2012 through 12 April 2012
ER -