Abstract
Recursive matrix relations for kinematics analysis of a translational parallel kinematical machine (PKM), namely the prismatic-universal-universal (3-PUU) manipulator are established in this paper. Knowing the translational motion of the platform, the inverse kinematics problem is solved based on the connectivity relations. Finally, some simulation graphs for the input displacements, velocities and accelerations are obtained.
| Original language | English |
|---|---|
| Pages (from-to) | 3-14 |
| Number of pages | 12 |
| Journal | UPB Scientific Bulletin, Series D: Mechanical Engineering |
| Volume | 73 |
| Issue number | 4 |
| Publication status | Published - 19 Dec 2011 |
| Externally published | Yes |
Keywords
- Connectivity relations
- Kinematics
- Parallel manipulator
ASJC Scopus subject areas
- Mechanical Engineering