Kinematic analysis of a novel 2(3-RUS) parallel manipulator-Reference-Cited by-同舟云学术

Kinematic analysis of a novel 2(3-RUS) parallel manipulator

Published:2015-01-20 Issue:10 Volume:34 Page:2241-2256
ISSN:0263-5747
Container-title:Robotica
language:en
Short-container-title:Robotica

Author:

Sánchez-Alonso Róger E.,González-Barbosa José-Joel,Castillo-Castaneda Eduardo,Gallardo-Alvarado Jaime

Abstract

SUMMARYThis paper introduces a novel 6-DOF parallel manipulator, which is composed of two 3-RUS parallel manipulators that share a common three-dimensional moving platform. Semi-analytical form solutions are easily obtained to solve the forward displacement analysis of the robot using the non-planar geometry of the moving platform, whereas the velocity, acceleration, and singularity analyses are performed using screw theory. A case study is included to show the application of the kinematic model, which is verified with the aid of a commercially available software. Simple kinematic analysis and reduced singular regions are the main benefits of the proposed parallel manipulator.

Publisher

Cambridge University Press (CUP)

Subject

Computer Science Applications,General Mathematics,Software,Control and Systems Engineering

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