@inproceedings{a049bad77fc04c79849d7b2c05982060,
title = "Real-time solutions to the forward kinematics of a 2RSS + RRR parallel mechanism",
abstract = "In this paper, we propose a new parallel mechanism designed for haptic interface. The haptic device consists of a 2RSS + RRR parallel mechanism with 3 degrees of freedom. In general, the control of haptic devices requires a high servo rate up to 1 kHz which demands a fast and real-time solution to the forward kinematics. Newton–Raphson method is one of the most efficient solutions to achieve real time requirement. However, its efficiency relies deeply on initial value of iterations. We present a methodology to overcome this limitation. We first model the forward kinematics of 2RSS + RRR as an 8th-degree polynomial equation in one unknown. We then propose two methods for determining the initial value to reduce the iterations and computing time. The numerical examples in the paper demonstrate that average time of 0.15 ms (6.7 kHz) for the solutions is achieved with an accuracy of 0.001 mm. The methodology proposed in this paper is general and can be applied to other applications requiring real time solutions to forward kinematics of parallel mechanisms.",
keywords = "Forward kinematics, Newton-Raphson, Parallel mechanism, Real-time",
author = "Hongdong Zhang and Yuru Zhang and Dangxiao Wang",
note = "Publisher Copyright: {\textcopyright} Springer Nature Singapore Pte Ltd. 2017.; 4th IFToMM Asian Conference on Mechanism and Machine Science, ASIAN MMS 2016 and International Conference on Mechanism and Machine Science of China, CCMMS 2016 ; Conference date: 15-12-2016 Through 17-12-2016",
year = "2017",
doi = "10.1007/978-981-10-2875-5\_82",
language = "英语",
isbn = "9789811028748",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Verlag",
pages = "995--1008",
editor = "Xianmin Zhang and Yanjiang Huang and Nianfeng Wang",
booktitle = "Mechanism and Machine Science - Proceedings of ASIAN MMS 2016 and CCMMS 2016",
address = "德国",
}