Title :
Kinematics analysis of a novel 3-RPUR parallel mechanism
Author :
Li, Shihua ; Ma, Ning ; Zhang, Yue
Author_Institution :
Robot. Res. Center, Univ. of Yanshan, Qinhuangdao
Abstract :
At first, based on the concepts of reciprocal screws and their correfativity, the input selecting of a novel 3-RPUR parallel mechanism are analyzed. Second, the position analysis of the mechanism, which has three translation degrees of freedom, are conducted. Third, according to the reversal solution of the position and the restriction of links, the ideal workspace of the mechanism can be described by the ultimate research method, and a solid model of the space is drawn. At last, the singularity of the mechanism was analyzed. All of the results should be applied in the mechanism design.
Keywords :
computational geometry; manipulator kinematics; 3-RPUR parallel manipulators; computational geometry; degrees-of-freedom; kinematics analysis; position analysis; reciprocal screws; solid model; Acceleration; Biomimetics; Fasteners; Kinematics; Manipulators; Parallel robots; Solid modeling; Kinematics; spatial parallel manipulator; workspace;
Conference_Titel :
Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on
Conference_Location :
Sanya
Print_ISBN :
978-1-4244-1761-2
Electronic_ISBN :
978-1-4244-1758-2
DOI :
10.1109/ROBIO.2007.4522511
