Kinematic and workspace analyses of a 2-RRU&RSR parallel manipulator

Chao Zhang; Bin Li; Xinhua Zhao; Yangmin Li

doi:10.1109/ROBIO.2017.8324603

Kinematic and workspace analyses of a 2-RRU&RSR parallel manipulator

Chao Zhang, Bin Li, Xinhua Zhao, Yangmin Li

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

Abstract

In this paper, a novel over-constrained 2-RRU&RSR parallel manipulator is proposed and analyzed. This mechanism is composed of a moving platform and a base, which connected by two identical revolute-revolute-universal kinematic chains and one revolute-spherical-revolute kinematic chains. Three revolute joints, fixed on the base, are set to be actively actuated. The design process and kinematic are studied in this paper. Firstly, the configuration design and structure characteristics of the mechanism are expounded. Secondly, the kinematic problems, including the inverse and the forward position analyses, are solved analytically. Then, the reachable workspace of the mechanism is analyzed by the inverse position equations. Finally, some numerical examples and conclusions of the mechanism are pointed out.

Original language	English
Title of host publication	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1340-1345
Number of pages	6
ISBN (Electronic)	9781538637418
DOIs	https://doi.org/10.1109/ROBIO.2017.8324603
Publication status	Published - 23 Mar 2018
Externally published	Yes
Event	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China Duration: 5 Dec 2017 → 8 Dec 2017

Publication series

Name	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Volume	2018-January

Conference

Conference	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Country/Territory	China
City	Macau
Period	5/12/17 → 8/12/17

ASJC Scopus subject areas

Artificial Intelligence
Mechanical Engineering
Control and Optimization
Modelling and Simulation

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10.1109/ROBIO.2017.8324603

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Zhang, C., Li, B., Zhao, X., & Li, Y. (2018). Kinematic and workspace analyses of a 2-RRU&RSR parallel manipulator. In 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 (pp. 1340-1345). (2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2017.8324603

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title = "Kinematic and workspace analyses of a 2-RRU&RSR parallel manipulator",

abstract = "In this paper, a novel over-constrained 2-RRU&RSR parallel manipulator is proposed and analyzed. This mechanism is composed of a moving platform and a base, which connected by two identical revolute-revolute-universal kinematic chains and one revolute-spherical-revolute kinematic chains. Three revolute joints, fixed on the base, are set to be actively actuated. The design process and kinematic are studied in this paper. Firstly, the configuration design and structure characteristics of the mechanism are expounded. Secondly, the kinematic problems, including the inverse and the forward position analyses, are solved analytically. Then, the reachable workspace of the mechanism is analyzed by the inverse position equations. Finally, some numerical examples and conclusions of the mechanism are pointed out.",

author = "Chao Zhang and Bin Li and Xinhua Zhao and Yangmin Li",

year = "2018",

month = mar,

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doi = "10.1109/ROBIO.2017.8324603",

language = "English",

series = "2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1340--1345",

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note = "2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 ; Conference date: 05-12-2017 Through 08-12-2017",

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Zhang, C, Li, B, Zhao, X & Li, Y 2018, Kinematic and workspace analyses of a 2-RRU&RSR parallel manipulator. in 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 1340-1345, 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, Macau, China, 5/12/17. https://doi.org/10.1109/ROBIO.2017.8324603

Kinematic and workspace analyses of a 2-RRU&RSR parallel manipulator. / Zhang, Chao; Li, Bin; Zhao, Xinhua et al.
2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1340-1345 (2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017; Vol. 2018-January).

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

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AB - In this paper, a novel over-constrained 2-RRU&RSR parallel manipulator is proposed and analyzed. This mechanism is composed of a moving platform and a base, which connected by two identical revolute-revolute-universal kinematic chains and one revolute-spherical-revolute kinematic chains. Three revolute joints, fixed on the base, are set to be actively actuated. The design process and kinematic are studied in this paper. Firstly, the configuration design and structure characteristics of the mechanism are expounded. Secondly, the kinematic problems, including the inverse and the forward position analyses, are solved analytically. Then, the reachable workspace of the mechanism is analyzed by the inverse position equations. Finally, some numerical examples and conclusions of the mechanism are pointed out.

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Kinematic and workspace analyses of a 2-RRU&RSR parallel manipulator

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