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
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;
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
DOI :
10.1109/AIM.2008.4601714
