Article

Kinematic analysis of two novel 3UPU I and 3UPU II PKMs

Robotics Research Center, School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, PR China
Robotics and Autonomous Systems DOI:10.1016/j.robot.2007.09.005 pp.296-305
Source: DBLP

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.

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Keywords

3UPU
 
3UPU II PKMs
 
analytic formulae
 
analytic results
 
geometric constrained equations
 
inverse displacement
 
inverse/forward velocity
 
kinematics
 
novel 3UPU
 
parallel kinematic machines
 
reachable workspaces
 
simulation mechanism
 
two PKMs
 

Yi Lu