DocumentCode
1841942
Title
Kinematics analysis of 2-PRU-PRRU parallel mechanism
Author
Qiaohong Chen ; Xufeng Yu ; Qinchuan Li
Author_Institution
Zhejiang Sci-Tech Univ., Hangzhou, China
fYear
2012
fDate
11-14 Dec. 2012
Firstpage
2363
Lastpage
2368
Abstract
Analyses of the inverse and forward positions of a 3-DOF parallel mechanism (PM) along with two rotational DOFs and one translational DOF are presented in this paper. The module of this 2-PRU-PRRU PM is created, and the Jacobian of the 2-PRU-PRRU PM is derived. Boundary, local, and combined singularities are identified based on the Jacobian. The workspace of the 2-PRU-PRRU PM is discussed according to the singularities and condition of a U-joint interference. The 2-PRU-PRRU PM has a simple structure and supplements the 3-DOF PM family with two rotational DOFs and one translational DOF. The 2-PRU-PRRU PM can be applied in the fields of industrial assembly robots, motion simulators, coordinate measuring machines, and parallel machine tools etc.
Keywords
Jacobian matrices; robot kinematics; 2-PRU-PRRU parallel mechanism; 3-DOF parallel mechanism; Jacobian matrix; U-joint interference; boundary singularity; kinematics analysis; local singularity; rotational DOF; translational DOF;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on
Conference_Location
Guangzhou
Print_ISBN
978-1-4673-2125-9
Type
conf
DOI
10.1109/ROBIO.2012.6491323
Filename
6491323
Link To Document