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.
Forward Kinematic Model Resolution of a New Spherical Parallel Manipulator
Mechan. Machine Science
IFToMM International Symposium on Robotics and Mechatronics ; 2024 ; Djerba, Tunisia April 17, 2024 - April 19, 2024
2024-09-25
9 pages
Article/Chapter (Book)
Electronic Resource
English
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