Comparative study of two 3-CRU translational parallel manipulators

Bin Li; Yangmin Li; Xinhua Zhao; Weimin Ge

doi:10.1109/ROBIO.2014.7090352

Comparative study of two 3-CRU translational parallel manipulators

Bin Li, Yangmin Li, Xinhua Zhao, Weimin Ge

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

7 Citations (Scopus)

Abstract

Two types of 3-CRU translational parallel manipulators (TPM) are compared and investigated in this paper. The two 3-CRU TPMs have identical kinematics, but some differences exist in terms of the chain arrangement, one is in fully symmetrical chain arrangement, called symmetrical 3-CRU TPM, the other one is in asymmetrical chain arrangement, called asymmetrical 3-CRU TPM. This paper focuses on discussing the differences between the two 3-CRU TPMs in kinematics, workspace and performance. This study provides insights into parallel manipulators with identical kinematics arranged differently.

Original language	English
Title of host publication	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Publisher	IEEE
Pages	332-337
Number of pages	6
ISBN (Electronic)	9781479973965
DOIs	https://doi.org/10.1109/ROBIO.2014.7090352
Publication status	Published - 20 Apr 2014
Externally published	Yes
Event	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Padma Resort Bali at Legian, Bali, Indonesia Duration: 5 Dec 2014 → 10 Dec 2014

Conference

Conference	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Country/Territory	Indonesia
City	Bali
Period	5/12/14 → 10/12/14

ASJC Scopus subject areas

Biotechnology
Artificial Intelligence
Human-Computer Interaction

More information

10.1109/ROBIO.2014.7090352

Cite this

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title = "Comparative study of two 3-CRU translational parallel manipulators",

abstract = "Two types of 3-CRU translational parallel manipulators (TPM) are compared and investigated in this paper. The two 3-CRU TPMs have identical kinematics, but some differences exist in terms of the chain arrangement, one is in fully symmetrical chain arrangement, called symmetrical 3-CRU TPM, the other one is in asymmetrical chain arrangement, called asymmetrical 3-CRU TPM. This paper focuses on discussing the differences between the two 3-CRU TPMs in kinematics, workspace and performance. This study provides insights into parallel manipulators with identical kinematics arranged differently.",

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Comparative study of two 3-CRU translational parallel manipulators. / Li, Bin; Li, Yangmin; Zhao, Xinhua et al.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. IEEE, 2014. p. 332-337 7090352.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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AB - Two types of 3-CRU translational parallel manipulators (TPM) are compared and investigated in this paper. The two 3-CRU TPMs have identical kinematics, but some differences exist in terms of the chain arrangement, one is in fully symmetrical chain arrangement, called symmetrical 3-CRU TPM, the other one is in asymmetrical chain arrangement, called asymmetrical 3-CRU TPM. This paper focuses on discussing the differences between the two 3-CRU TPMs in kinematics, workspace and performance. This study provides insights into parallel manipulators with identical kinematics arranged differently.

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Comparative study of two 3-CRU translational parallel manipulators

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ASJC Scopus subject areas

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