Kinematics and Workspace Analysis of a Parallel Wire Mechanism for Measuring a Robot Pose
This paper presents a parallel wire mechanism for measuring a robot pose of 6 degrees of freedom (DOF), The position and orientation of a robot end-effector are obtained from the six wire lengths measured in the parallel wire mechanism. The forward kinematics is solved by using a numerical method, and determined the unique solution based on the geometric configuration of the mechanism. The method to estimate the workspace is represented. It is verified that the proposed mechanism can measure 6-DOF of industrial robot effectively. (C) 1998 Elsevier Science Ltd. All rights reserved.
- Publisher
- Pergamon-Elsevier Science Ltd
- Issue Date
- 1999-08
- Language
- English
- Article Type
- Article
- Keywords
POSITIONING MECHANISM; CALIBRATION; MANIPULATOR
- Citation
MECHANISM AND MACHINE THEORY, v.34, no.6, pp.825 - 841
- ISSN
- 0094-114X
- Appears in Collection
- ME-Journal Papers(저널논문)
- Files in This Item
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