Abstract
A novel 3-RRUU 6-DOF parallel manipulator is designed based on the multi-plane design principle, that provides larger workspace, less chance of link interference and simplified kinematic analysis. The link interference detection by pentagon identification and cross-product is demonstrated. Workspace is optimized by different orientations. The Jacobian matrix by global cartesian coordinate system is developed. A transformation matrix could convert that to Jacobian matrix of a new coordinate system.
| Original language | English |
|---|---|
| Article number | 012006 |
| Journal | IOP Conference Series: Materials Science and Engineering |
| Volume | 491 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 13 Mar 2019 |
| Externally published | Yes |
| Event | 2018 4th International Conference on Mechanical and Aeronautical Engineering, ICMAE 2018 - Bangkok, Thailand Duration: 13 Dec 2018 → 16 Dec 2018 |
ASJC Scopus subject areas
- General Materials Science
- General Engineering