Forward Kinematic Model Resolution of a New Spherical Parallel Manipulator
摘要
In this paper, a method for solving the forward kinematic model of a new spherical parallel manipulator is presented. This method is based on applying the cosine law of spherical trigonometry. First, the forward kinematic model of a spherical five-bar mechanism is presented. Then, the method is applied to the entire spherical parallel manipulator. A numerical validation is performed and shows the accuracy of the proposed approach.