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http://dx.doi.org/10.3795/KSME-A.2004.28.12.1845

Forward Kinematic Analysis of Casing Oscillator  

Nam, Yun-Joo (부산대학교 대학원 지능기계공학과)
Park, Myeong-Kwan (부산대학교 기계공학부 및 기계기술연구소)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.28, no.12, 2004 , pp. 1845-1855 More about this Journal
Abstract
This paper presents the forward kinematics of the Casing Oscillator that is a construction machine. The Structure of the Casing Oscillator is similar to those of 4 degree-of-freedom mechanisms with a redundancy. With analytical (geometrical) methods, the solutions of the forward position kinematics problem are significantly found by both solving an 8$^{th}$ -order polynomial equation in one unknown variable and using one over-constraint geometrical equation which can be derived under the condition of a redundancy. The proposed forward kinematics has closed-form solutions and allows Auto-Balancing control of the moving platform in real time. Numerical examples are presented and the results are verified by an inverse kinematics analysis.
Keywords
Casing Oscillator; Forward Kinematics; Parallel Manipulator;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
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