This paper presents a finite element method (FEM) for the kinematic solution of parallel manipulators (PMs), and this approach is applied to analyze the kinematics of a parallel hip joint manipulator (PHJM). The analysis and simulation results indicate that FEM can get accurate results of the kinematics of the PHJM, and the solution process shows that using FEM can solve nonlinear and linear kinematic problems in the same mathematical framework, which provides a theory base for establishing integrated model among different parameter models of the PHJM.
Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator
Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received March 12, 2014; final manuscript received August 30, 2014; published online April 2, 2015. Assoc. Editor: Robert J. Wood.
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Cheng, G., Wang, S., Yang, D., and Yang, J. (November 1, 2015). "Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator." ASME. J. Mechanisms Robotics. November 2015; 7(4): 041010. https://doi.org/10.1115/1.4028623
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