Kinematics of the 3-PUU translational parallel manipulator

Yangmin Li, Qingsong Xu, Stefan Staicu

Research output: Journal article publicationJournal articleAcademic researchpeer-review

5 Citations (Scopus)


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 languageEnglish
Pages (from-to)3-14
Number of pages12
JournalUPB Scientific Bulletin, Series D: Mechanical Engineering
Issue number4
Publication statusPublished - 19 Dec 2011
Externally publishedYes


  • Connectivity relations
  • Kinematics
  • Parallel manipulator

ASJC Scopus subject areas

  • Mechanical Engineering


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