Title :
Kinematic Analysis of a Novel 4-UPS-UPU PCMM
Author :
Chen, Xiulong ; Deng, Yu ; Hu, Gang ; Yin, Jingbo
Author_Institution :
Dept. of Mech. & Electron. Eng., Shandong Univ. of Sci. & Technol., Qingdao, China
Abstract :
A novel 4-UPS-UPU PCMM (parallel coordinate measuring machine) with three translations and two rotations is proposed, and its kinematic analysis is studied systematically. First, the structure characteristics of the 4-UPS-UPU PCMM is analyzed. Second, a new solution for position analysis of 4-UPS-UPU PCMM, which without the construction of mathematical model, is put forward. Third, The curves of the length of actuating limbs respecting with motion of pose was obtained by Matlab software, the curves of velocity and acceleration were generated from the curve of the actuating limbs. The analytic results are verified by its simulation mechanism.
Keywords :
control engineering computing; coordinate measuring machines; robot kinematics; 4-UPS-UPU PCMM; Matlab software; actuating limbs; kinematic analysis; mathematical model; parallel coordinate measuring machine; structure characteristics; Acceleration; Analytical models; Automation; Coordinate measuring machines; Kinematics; Mathematical model; Mechanical variables measurement; Mechatronics; Rotation measurement; Structural engineering; PCMM; mathematical model; positon analysis; simulation mechanism;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2010 International Conference on
Conference_Location :
Changsha City
Print_ISBN :
978-1-4244-5001-5
Electronic_ISBN :
978-1-4244-5739-7
DOI :
10.1109/ICMTMA.2010.240
