DocumentCode
3455338
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
fYear
2007
fDate
15-18 Dec. 2007
Firstpage
2200
Lastpage
2205
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ROBIO.2007.4522511
Filename
4522511
Link To Document