TY - JOUR
T1 - An approach to solving the forward kinematics of the 5-RPUR (3T2R) parallel manipulator
AU - Gallardo-Alvarado, Jaime
AU - Garcia-Murillo, Mario A.
AU - Aguilera-Camacho, Luis D.
AU - Alcaraz-Caracheo, Luis A.
AU - Sandoval-Castro, X. Yamile
N1 - Publisher Copyright:
© 2023, The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature.
PY - 2023/3
Y1 - 2023/3
N2 - This work is devoted to simplifying the formulation and solution of the closure equations associated with the forward kinematic problem (FKP) of the 5-RPUR parallel manipulator, a limited-DOF robot able to perform 3T2R motion. The analysis yields a set of eighteen nonlinear equations that are solved numerically through a combination of the homotopy continuation method and the usual Newton-Raphson technique. Unlike existing methods, the proposed approach is easy to follow and can be easily translated into computer codes. Numerical examples are provided with the aim to illustrate the potential and correctness of the proposed method.
AB - This work is devoted to simplifying the formulation and solution of the closure equations associated with the forward kinematic problem (FKP) of the 5-RPUR parallel manipulator, a limited-DOF robot able to perform 3T2R motion. The analysis yields a set of eighteen nonlinear equations that are solved numerically through a combination of the homotopy continuation method and the usual Newton-Raphson technique. Unlike existing methods, the proposed approach is easy to follow and can be easily translated into computer codes. Numerical examples are provided with the aim to illustrate the potential and correctness of the proposed method.
KW - 3T2R motion
KW - Algebraic geometry
KW - Forward kinematics
KW - Homotopy continuation method
KW - Parallel manipulator
UR - http://www.scopus.com/inward/record.url?scp=85148859812&partnerID=8YFLogxK
U2 - 10.1007/s12206-023-0230-2
DO - 10.1007/s12206-023-0230-2
M3 - Artículo
AN - SCOPUS:85148859812
SN - 1738-494X
VL - 37
SP - 1443
EP - 1453
JO - Journal of Mechanical Science and Technology
JF - Journal of Mechanical Science and Technology
IS - 3
ER -