Name
Title | ||
|---|---|---|
Analyses of velocity, acceleration, statics, and workspace of a 2(3-spr) serial-parallel manipulator |
Abstract | ||
|---|---|---|
The kinematics, statics, and workspace of a 2(3-SPR) serial-parallel manipulator (S-PM) are studied systematically in this paper. First, a 2(3-SPR) S-PM including an upper 3-SPR parallel manipulator (PM) and a lower 3-SPR PM is constructed, and the inverse/forward displacements, velocity, acceleration, and statics of the lower and upper 3-SPR PMs are studied, respectively. Second, the kinematics and statics of the lower and upper 3-SPR PMs are combined and the displacement, velocity, acceleration, and statics of a 2(3-SPR) S-PM are analyzed systematically. Third, a workspace of the 2(3-SPR) S-PM is constructed and analyzed. Finally, the analytic solved results are given and verified by the simulation mechanism. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1017/S0263574708004918 | Robotica |
Keywords | DocType | Volume |
serial-parallel manipulator,3-SPR PMs,simulation mechanism,forward displacement,lower 3-SPR PM,3-SPR parallel manipulator | Journal | 27 |
Issue | ISSN | Citations |
4 | 0263-5747 | 4 |
PageRank | References | Authors |
0.81 | 1 | 3 |