Name
Abstract | ||
|---|---|---|
Two novel 3UPU I and 3UPU II PKMs (parallel kinematic machines) with two rotations and one translation are proposed, and their kinematics are studied systematically. First, the kinematic characteristics of the 3UPU I and 3UPU II PKMs are analyzed and the geometric constrained equations are derived. Second, some analytic formulae are derived for solving inverse displacement, inverse/forward velocity and acceleration of the two PKMs. Third, the reachable workspaces of the two PKMs are solved and analyzed. The analytic results are verified by their simulation mechanism. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1016/j.robot.2007.09.005 | Robotics and Autonomous Systems |
Keywords | Field | DocType |
3UPU parallel manipulator,Kinematic analysis,Workspace | Inverse,Kinematics,Workspace,Simulation,Computer science,Forward velocity,Acceleration | Journal |
Volume | Issue | ISSN |
56 | 4 | Robotics and Autonomous Systems |
Citations | PageRank | References |
5 | 0.71 | 2 |
Authors | ||
3 | ||