DocumentCode
2870158
Title
Kinematic Analysis of A Novel 3-DOF Translational Parallel Mechanism
Author
Zeng, Daxing ; Huang, Zhen ; Lu, Wenjuan
Author_Institution
Robotics Res. Center, Yanshan Univ., Hebei
fYear
2006
fDate
25-28 June 2006
Firstpage
2030
Lastpage
2035
Abstract
In this paper, the mobility and instantaneous motions of a novel 3-DOF 3-RPUR parallel mechanism are studied. It is very important to know all the feasible instantaneous motions of parallel mechanism. Firstly, the mobility and feasible instantaneous motions are analyzed by screw theory. Secondly, the first and second-order influence coefficient matrices of the mechanism are established by looking up the table and the imaginary mechanism method. Finally, a numerical example is presented
Keywords
Jacobian matrices; manipulator kinematics; 3-DOF translational parallel mechanism; Jacobian matrix; kinematic analysis; parallel manipulators; screw theory; Acceleration; End effectors; Equations; Fasteners; Jacobian matrices; Kinematics; Mechatronics; Mobile robots; Motion analysis; Robotics and automation; imaginary-mechanism method; influence coefficient; screw theory;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location
Luoyang, Henan
Print_ISBN
1-4244-0465-7
Electronic_ISBN
1-4244-0466-5
Type
conf
DOI
10.1109/ICMA.2006.257585
Filename
4026408
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