In this paper, a method for solving the forward kinematic model of a new spherical parallel manipulator is presented. This method is based on applying the cosine law of spherical trigonometry. First, the forward kinematic model of a spherical five-bar mechanism is presented. Then, the method is applied to the entire spherical parallel manipulator. A numerical validation is performed and shows the accuracy of the proposed approach.


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    Title :

    Forward Kinematic Model Resolution of a New Spherical Parallel Manipulator


    Additional title:

    Mechan. Machine Science



    Conference:

    IFToMM International Symposium on Robotics and Mechatronics ; 2024 ; Djerba, Tunisia April 17, 2024 - April 19, 2024


    Published in:

    Robotics and Mechatronics ; Chapter : 3 ; 23-31


    Publication date :

    2024-09-25


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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