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Forward kinematic solution and its applications for a 3-DOF parallel kinematic machine (PKM) with a passive link

Published online by Cambridge University Press:  15 February 2006

Z. M. Bi  and
S. Y. T. Lang
Z. M. Bi
Affiliation:
Integrated Manufacturing Technologies Institute, National Research Council, London, ON, Canada, N6G 4X8
S. Y. T. Lang
Affiliation:
Integrated Manufacturing Technologies Institute, National Research Council, London, ON, Canada, N6G 4X8
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Abstract

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In this paper, a 3-DOF parallel kinematic machine (PKM) with a passive link is introduced. The forward kinemaic model is established, and a new technique is proposed to solve this model. The developed forward kinematic solver (FKS) is employed in two new applications: the determination of joint workspace and sensor-based real-time monitoring. A joint workspace concept is proposed for the optimization of a PKM structure. It is defined as a reachable area in the joint coordinate system under given ranges of active joint motions. The larger a joint workspace is, the higher utilization of joint motion capacity is. Sensor-based monitoring is applied in real-time system operation, by which a remote user can monitor a PKM through Internet based on the feedbacks of the joint encoders or the on-site stereo camera.

Keywords

Parallel Kinematic Machine (PKM)Forward kinematicsJoint workspaceSensor-based monitoringWeb-based controlJava3D
Type
Article
Information
Robotica , Volume 24 , Issue 5 , September 2006 , pp. 549 - 555
Copyright
2006 Cambridge University Press