Title :
Position and singularity analysis of a novel 3-RPUR parallel platform mechanism
Author :
Li, Shihua ; Ma, Ning ; Yu, Changcheng
Author_Institution :
Robot. Res. Center, Univ. of Yanshan, Qinhuangdao
Abstract :
In this paper, a number of kinematics problems of a novel 3-DOF 3-RPUR translational parallel mechanism are studied. First, an equation system of the mechanism structure constraint and an initial equation system are established. Second, all forward kinematics are obtained via the continuation approach, the positions of the mechanism corresponding to the solutions are validated. Third, according to the reversal solution of the position and the restriction of links and angles, the ideal workspace and the singularity of the mechanism were analyzed.
Keywords :
manipulator kinematics; position control; 3-DOF 3-RPUR translational parallel mechanism; 3-RPUR parallel platform mechanism; equation system; forward kinematics; initial equation system; kinematics problems; mechanism structure constraint; position analysis; reversal solution; singularity analysis; Equations; Intelligent robots; Kinematics; Mechatronics; Parallel robots; Polynomials; Robotic assembly; Spatial resolution; Continuation method; Position analysis; singularity; spatial parallel manipulator; workspace;
Conference_Titel :
Advanced Intelligent Mechatronics, 2008. AIM 2008. IEEE/ASME International Conference on
Conference_Location :
Xian
Print_ISBN :
978-1-4244-2494-8
Electronic_ISBN :
978-1-4244-2495-5
DOI :
10.1109/AIM.2008.4601713
