Kinematic analysis of two novel 3UPU I and 3UPU II PKMs
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.
Article: An overview of kinematic and calibration models using internal/external sensors or constraints to improve the behavior of spatial parallel mechanisms.[show abstract] [hide abstract]
ABSTRACT: This paper presents an overview of the literature on kinematic and calibration models of parallel mechanisms, the influence of sensors in the mechanism accuracy and parallel mechanisms used as sensors. The most relevant classifications to obtain and solve kinematic models and to identify geometric and non-geometric parameters in the calibration of parallel robots are discussed, examining the advantages and disadvantages of each method, presenting new trends and identifying unsolved problems. This overview tries to answer and show the solutions developed by the most up-to-date research to some of the most frequent questions that appear in the modelling of a parallel mechanism, such as how to measure, the number of sensors and necessary configurations, the type and influence of errors or the number of necessary parameters.Sensors 01/2010; 10(11):10256-97. · 1.74 Impact Factor