Abstract
Abstract
To enrich the type of three-DOF parallel mechanisms, a novel 3-RRC platform mechanism model is presented in this paper. The upper platform of this 3-DOF parallel manipulator can realize three-dimension translations without any rotations. The solutions are developed for both the inverse and forward kinematics. The inverse position kinematics produces two solutions for each limb of manipulator. The forward position kinematics is reduced to an eighth-degree polynomial equation. The velocity and acceleration analyses are also given. Some numerical examples and relational curves are presented finally.
Publisher
American Society of Mechanical Engineers
Cited by
17 articles.
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