Abstract
An RRR-UPRR-RPUR parallel manipulator which can achieve spherical motion around fixed point was presented. The manipulator has three rotational degree-of-freedom (DOF), of which two rotational DOFs are independent and could be actuated by single actuator. The screw formulations of kinematic joints under ordinary configuration were established, which was employed to determine the three continues rotational DOF of the manipulator. Then, the kinematics of moving-platform and adjacent part were deduced, and the analytical algorithm of direct kinematics of the mechanism was established. Finally, the theoretical results are verified by the motion simulation of the prototype mechanism.
| Original language | English |
|---|---|
| Pages (from-to) | 202-206+224 |
| Journal | Nongye Jixie Xuebao/Transactions of the Chinese Society of Agricultural Machinery |
| Volume | 42 |
| Issue number | 9 |
| Publication status | Published - Sept 2011 |
| Externally published | Yes |
Keywords
- Decoupled motion
- DOF analysis
- Screw theory
- Spherical parallel mechanism
ASJC Scopus subject areas
- General Agricultural and Biological Sciences
- Mechanical Engineering