기구학적 전이를 이용한 케이싱 오실레이터의 순기구학 해석

Direct Position Kinematics Solution For Casing Oscillator Using the Kinematic Inversion

This paper presents a novel pose description corresponding to the structure characteristics of parallel manipulators, which is convenient and intuitionistic to us. A class of 3-RSR parallel manipulator is considered here. Through analysis on geometry theory, we obtain a new method of the closed-form solution to the forward kinematics. The closed-form solution contains two different meanings-analytical and real-time. So we reach the goal of practical application and control. A numerical example is also presented and are verified by an inverse kinematics analysis. It shows that the method has a practical value for real-time control.