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 proceedingConference article published in proceeding or bookAcademic researchpeer-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 languageEnglish
Title of host publication2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1340-1345
Number of pages6
ISBN (Electronic)9781538637418
DOIs
Publication statusPublished - 23 Mar 2018
Externally publishedYes
Event2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China
Duration: 5 Dec 20178 Dec 2017

Publication series

Name2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Volume2018-January

Conference

Conference2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Country/TerritoryChina
CityMacau
Period5/12/178/12/17

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization
  • Modelling and Simulation

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