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  • Analysing kinematics of a novel 3CPS parallel manipulator based on Rodrigues parameters
    Cheng, Gang ...
    In order to adjust the poses of the segment mirrors and give the correct surface shape to a large aperture telescope, an active adjusting platform for segment mirror with a novel 3CPS parallel ... manipulator as core module is proposed. The platform has 6 degree-of-freedoms (DOFs) including three translational freedoms and three rotational freedoms. Its kinematics are analysed systematically. By means of the Rodrigues parameters method, the formulae for solving the inverse/forward displacement, the inverse/forward velocity, and the inverse/ forward acceleration kinematics are derived. A numerical simulation of the kinematics model is then carried out combining the topological structure characteristics of the manipulator. The correctness of the kinematics model is verified by an experiment in which the pose of moving platform is measured using a photogrammetric method.
    Vir: Strojniški vestnik = Journal of mechanical engineering. - ISSN 0039-2480 (Vol. 59, no. 5, May 2013, str. 291-300, SI 56)
    Vrsta gradiva - članek, sestavni del
    Leto - 2013
    Jezik - angleški
    COBISS.SI-ID - 13072923

    Povezava(-e):

    Digitalna knjižnica Slovenije - dLib.si
    DOI

vir: Strojniški vestnik = Journal of mechanical engineering. - ISSN 0039-2480 (Vol. 59, no. 5, May 2013, str. 291-300, SI 56)

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