DocumentCode
2611391
Title
Kinematic analysis of a novel 3-DOF 3-RPUR translational parallel mechanism
Author
Li, Shihua ; Ma, Ning ; Ding, Wenhua
Author_Institution
Robot. Res. Center, Univ. of Yanshan, Qinhuangdao
fYear
2008
fDate
2-5 July 2008
Firstpage
516
Lastpage
521
Abstract
In this paper, a number of kinematics problems of a novel 3-DOF 3-RPUR translational parallel mechanism are studied. Firstly, based on the imaginary mechanism method and influence coefficient method, the first and second-order influence coefficient matrices of the mechanism are deduced and the kinematic equations are established. Secondly, the velocity and acceleration curves of the upper platform are drawn after given inputs. The researching result of this paper possesses important significance on the design and application of this parallel manipulator.
Keywords
manipulator kinematics; matrix algebra; 3-DOF 3-RPUR translational parallel mechanism; acceleration curve; imaginary mechanism method; influence coefficient matrices; kinematic analysis; velocity curve; Acceleration; Couplings; Equations; Intelligent robots; Jacobian matrices; Mechatronics; Parallel robots; Robot kinematics; Kinematics; imaginary-mechanism method; influence coefficient; parallel mechanism;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/AIM.2008.4601714
Filename
4601714
Link To Document