Kinematic Analysis of a Novel 4-UPS-UPU PCMM

Author

Chen, Xiulong ; Deng, Yu ; Hu, Gang ; Yin, Jingbo

Author_Institution

Dept. of Mech. & Electron. Eng., Shandong Univ. of Sci. & Technol., Qingdao, China

Volume

2

fYear

2010

fDate

13-14 March 2010

Firstpage

550

Lastpage

553

Abstract

A novel 4-UPS-UPU PCMM (parallel coordinate measuring machine) with three translations and two rotations is proposed, and its kinematic analysis is studied systematically. First, the structure characteristics of the 4-UPS-UPU PCMM is analyzed. Second, a new solution for position analysis of 4-UPS-UPU PCMM, which without the construction of mathematical model, is put forward. Third, The curves of the length of actuating limbs respecting with motion of pose was obtained by Matlab software, the curves of velocity and acceleration were generated from the curve of the actuating limbs. The analytic results are verified by its simulation mechanism.

Keywords

control engineering computing; coordinate measuring machines; robot kinematics; 4-UPS-UPU PCMM; Matlab software; actuating limbs; kinematic analysis; mathematical model; parallel coordinate measuring machine; structure characteristics; Acceleration; Analytical models; Automation; Coordinate measuring machines; Kinematics; Mathematical model; Mechanical variables measurement; Mechatronics; Rotation measurement; Structural engineering; PCMM; mathematical model; positon analysis; simulation mechanism;

fLanguage

English

Publisher

ieee

Conference_Titel

Measuring Technology and Mechatronics Automation (ICMTMA), 2010 International Conference on

Conference_Location

Changsha City

Print_ISBN

978-1-4244-5001-5

Electronic_ISBN

978-1-4244-5739-7

Type

conf

DOI

10.1109/ICMTMA.2010.240

Filename

5460237