DocumentCode
3282163
Title
Kinematics of the translational 3-URC mechanism
Author
Di Gegorio, R.
Author_Institution
Dept. of Eng., Ferrara Univ.
Volume
1
fYear
2001
fDate
2001
Firstpage
147
Abstract
A new 3-DOF spatial parallel mechanism, named translational 3-URC, is presented. The translational 3-URC makes the platform translate with respect to the base. The new mechanism belongs to a set of mechanisms with topologically equal architectures, called 3-URC, which contains another mechanism behaving as a spherical parallel wrist. The translational 3-URC position and mobility analyses are addressed and solved in closed form and the singularity conditions are written in explicit form and interpreted
Keywords
manipulator kinematics; 3-DOF spatial parallel mechanism; singularity conditions; spherical parallel wrist; topologically equal architectures; translational 3-URC mechanism kinematics; Kinematics; Leg; Parallel robots; Pulp manufacturing; Scanning probe microscopy; Uninterruptible power systems; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location
Como
Print_ISBN
0-7803-6736-7
Type
conf
DOI
10.1109/AIM.2001.936445
Filename
936445
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