Design and analysis of a spatial 2-RPU & SPR parallel manipulator with 1T2R-Type

Bin Li, Yangmin Li, Xinhua Zhao, Yuwei Yang

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

10 Citations (Scopus)

Abstract

A spatial 2-RPU&SPR parallel manipulator (PM) with three degrees of freedom (DOF) is proposed in this paper. The architecture of the manipulator is comprised of a moving platform attached to a base through two revolute-prismatic-universal jointed serial linkages and one spherical-prismatic-revolute jointed serial linkage. The prismatic motions of the prismatic joints are considered to be actively actuated. The moving platform of the manipulator has one-translational and two rotational (1T2R) DOFs with respect to the fixed base. The kinematics including forward and inverse position analysis is analyzed. At last, the simulations of position and velocity of the manipulator are made to validate the algorithm.
Original languageEnglish
Title of host publication2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
PublisherIEEE
Pages1882-1887
Number of pages6
ISBN (Electronic)9781479951994
DOIs
Publication statusPublished - 1 Jan 2014
Externally publishedYes
Event2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 - Singapore, Singapore
Duration: 10 Dec 201412 Dec 2014

Conference

Conference2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
CountrySingapore
CitySingapore
Period10/12/1412/12/14

Keywords

  • Analysis
  • Design
  • Parallel Manipulator

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Artificial Intelligence
  • Control and Systems Engineering

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