Kinematic analysis of two novel 3UPU I and 3UPU II PKMs

Robotics and Autonomous Systems

Volumn 56, Issue 4, 2008, Pages 296-305

  Lu, Yi ^a   Shi, Yan ^a   Hu, Bo ^a  

^a YANSHAN UNIVERSITY   (China)

Author keywords

3UPU parallel manipulator; Kinematic analysis; Workspace

Indexed keywords

ACCELERATION; COMPUTER SIMULATION; KINEMATICS; PROBLEM SOLVING; ROTATION; VELOCITY CONTROL;

GEOMETRIC CONSTRAINED EQUATIONS;

MANIPULATORS;

EID: 40849126668     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2007.09.005     Document Type: Article

References (23)

1. Huang Z., Kong L.F., and Fang Y.F. Theory on Parallel Robotics and Control (1997), Machinery Industry Press, Beijing, China
2. Niku S.B. Introduction to Robotics Analysis, Systems, Applications (2004), Pearson Education, Inc., Publishing as Prentice Hall, and Publishing House of Electronics Industry, Beijing, China
3. Tsai L.W., and Joshi S. Kinematics and optimization of a spatial 3-UPU parallel manipulator. Transactions of the ASME. Journal of Mechanical Design 122 4 (2000) 439-446
4. Lu Y. Computer-aided geometric machining of a 3D free surface using a 3-UPU spatial parallel machine tool. International Journal of Advanced Manufacture Technology 26 10 (2005) 1018-1025
5. Di Gregorio Ra.a. Kinematics of the 3-UPU wrist. Mechanism and Machine Theory 38 (2003) 253-263
6. Hunt K.H. Structural kinematics of in-parallel actuated robot arms. Transactions of the ASME. Journal of Mechanisms, Transmissions, and Automation in Design 105 4 (1983) 705-712
7. Ji P., and Wu H. Kinematics analysis of an offset 3-UPU translational parallel robotic manipulator. Robotics and Autonomous Systems 42 (2003) 117-123
8. Han C., Kim J., Kim J., and Park F.C. Kinematic sensitivity analysis of the 3-UPU parallel mechanism. Mechanism and Machine Theory 37 (2002) 787-798
9. Huang Z., Li S.H., and Zuo R.G. Feasible instantaneous motions and kinematic characteristics of a special 3-DOF 3-UPU parallel manipulator. Mechanism and Machine Theory 39 9 (2004) 957-970
10. Gosselin C.M., and Angeles J. The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator. ASME. Journal of Mechanisms, Transmission and Automation in Design 111 2 (1989) 202-207
11. Tsai M.-S., Shiau T.-N., Tsai Y.-J., and Chang T.-h. Direct kinematics analysis of 2 3-PRS parallel mechanism. Mechanism and Machine Theory 38 (2003) 71-83
12. Kong X., and Gosselin C.M. Forward displacement analysis of third-class analytic 3-RPR planar parallel manipulators. Mechanism and Machine Theory 36 9 (2001) 1009-1018
13. Stock M., and Miller K. Optimal kinematic design of spatial parallel manipulators: Application to linear Delta robot. Transactions of the ASME. Journal of Mechanical Design 125 4 (2003) 292
14. Dai J.S., Huang Z., and Lipkin H. Mobility of over constrained parallel mechanisms. Transactions of the ASME. Journal of Mechanical Design 128 1 (2006) 220-229
15. Joshi S.A., and Tsai L.W. Jacobian Analysis of limited-DOF parallel manipulators. Journal of Mechanical Design, Transactions of the ASME 124 2 (2002) 254-258
16. Kim S.G., and Ryu J. New dimensionally homogeneous Jacobian matrix formulation by three end-effector points for optimal design of parallel manipulators. IEEE Transactions on Robotics and Automation 19 4 (2003) 731-737
17. Canfield S.L., Soper R.R., and Reinholtz C.F. Velocity analysis of parallel manipulators by truss transformations. Mechanism and Machine Theory 34 3 (1999) 345-357
18. Gosselin C.M., and Angeles J. The optimum kinematic design of a spherical 3-DOF parallel manipulator. Transactions of the ASME. Journal of Mechanisms, Transmissions, and Automation 116 4 (1994) 1141-1147
19. Lu Y. Using CAD variation geometry for solving velocity and acceleration of parallel manipulators with 3-5 linear driving limbs. Transactions of the ASME. Journal of Mechanical Design 128 4 (2006) 738-746
20. Lu Y., and Hu B. Unified solving Jacobian/Hessian matrices of some parallel manipulators with n SPS active legs and a constrained leg. Transactions of the ASME. Journal of Mechanical Design 129 6 (2007)
21. Lu Y., and Hu B. Analyzing kinematics and solving active/constrained forces of a 3SPU+UPR parallel manipulator. Machine and Mechanism Theory 42 10 (2007) 1298-1313
22. Lu Y. Using CAD Functionalities for the kinematics analysis of spatial parallel manipulators with 3-, 4-, 5-, 6-linearly driven limbs. Machine and Mechanism Theory 39 1 (2004) 41-60
23. Lu Y. Using CAD variation geometry and analytic approach for solving kinematics of a novel 3-SPU/3-SPU parallel manipulator. Transactions of the ASME. Journal of Mechanical Design 2 (2006) 574-580