Position and singularity analysis of a novel 3-RPUR parallel platform mechanism

Author

Li, Shihua ; Ma, Ning ; Yu, Changcheng

Author_Institution

Robot. Res. Center, Univ. of Yanshan, Qinhuangdao

fYear

2008

fDate

2-5 July 2008

Firstpage

510

Lastpage

515

Abstract

In this paper, a number of kinematics problems of a novel 3-DOF 3-RPUR translational parallel mechanism are studied. First, an equation system of the mechanism structure constraint and an initial equation system are established. Second, all forward kinematics are obtained via the continuation approach, the positions of the mechanism corresponding to the solutions are validated. Third, according to the reversal solution of the position and the restriction of links and angles, the ideal workspace and the singularity of the mechanism were analyzed.

Keywords

manipulator kinematics; position control; 3-DOF 3-RPUR translational parallel mechanism; 3-RPUR parallel platform mechanism; equation system; forward kinematics; initial equation system; kinematics problems; mechanism structure constraint; position analysis; reversal solution; singularity analysis; Equations; Intelligent robots; Kinematics; Mechatronics; Parallel robots; Polynomials; Robotic assembly; Spatial resolution; Continuation method; Position analysis; singularity; spatial parallel manipulator; workspace;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2008. AIM 2008. IEEE/ASME International Conference on

Conference_Location

Xian

Print_ISBN

978-1-4244-2494-8

Electronic_ISBN

978-1-4244-2495-5

Type

conf

DOI

10.1109/AIM.2008.4601713

Filename

4601713