Geodesic
Kinematic Analysis of a Pentapod Robot
Journal for geometry and graphics, Tome 10 (2006) no. 2, pp. 173-182 Cet article a éte moissonné depuis la source Heldermann Verlag

Voir la notice de l'article

The investigated milling robot with an axial spindle as platform is a parallel manipulator. Five legs carry and control the spindle. An algebraic solution of the direct kinematic problem is given by the help of vector calculus. The solutions are determined by the roots of 5 polynomials of degree 4. Therefore, together with a quadratic normalizing condition the number of solutions is not greater than 2048. Compared to our first result this number is strongly reduced but still large. However, numerical solutions of the polynomial equation system show a stable and fast convergence using Newton methods.
Classification : 53A17
Mots-clés : Robotics, spatial mechanisms, constraint parallel manipulators 
@article{JGG_2006_10_2_JGG_2006_10_2_a5,
     author = {G. F. B�r and G. Wei� },
     title = {Kinematic {Analysis} of a {Pentapod} {Robot}},
     journal = {Journal for geometry and graphics},
     pages = {173--182},
     year = {2006},
     volume = {10},
     number = {2},
     url = {http://geodesic.mathdoc.fr/item/JGG_2006_10_2_JGG_2006_10_2_a5/}
}
TY  - JOUR
AU  - G. F. B�r
AU  - G. Wei� 
TI  - Kinematic Analysis of a Pentapod Robot
JO  - Journal for geometry and graphics
PY  - 2006
SP  - 173
EP  - 182
VL  - 10
IS  - 2
UR  - http://geodesic.mathdoc.fr/item/JGG_2006_10_2_JGG_2006_10_2_a5/
ID  - JGG_2006_10_2_JGG_2006_10_2_a5
ER  - 
%0 Journal Article
%A G. F. B�r
%A G. Wei� 
%T Kinematic Analysis of a Pentapod Robot
%J Journal for geometry and graphics
%D 2006
%P 173-182
%V 10
%N 2
%U http://geodesic.mathdoc.fr/item/JGG_2006_10_2_JGG_2006_10_2_a5/
%F JGG_2006_10_2_JGG_2006_10_2_a5
G. F. B�r; G. Wei� . Kinematic Analysis of a Pentapod Robot. Journal for geometry and graphics, Tome 10 (2006) no. 2, pp. 173-182. http://geodesic.mathdoc.fr/item/JGG_2006_10_2_JGG_2006_10_2_a5/