Title :
Kinematic Analysis of A Novel 3-DOF Translational Parallel Mechanism
Author :
Zeng, Daxing ; Huang, Zhen ; Lu, Wenjuan
Author_Institution :
Robotics Res. Center, Yanshan Univ., Hebei
Abstract :
In this paper, the mobility and instantaneous motions of a novel 3-DOF 3-RPUR parallel mechanism are studied. It is very important to know all the feasible instantaneous motions of parallel mechanism. Firstly, the mobility and feasible instantaneous motions are analyzed by screw theory. Secondly, the first and second-order influence coefficient matrices of the mechanism are established by looking up the table and the imaginary mechanism method. Finally, a numerical example is presented
Keywords :
Jacobian matrices; manipulator kinematics; 3-DOF translational parallel mechanism; Jacobian matrix; kinematic analysis; parallel manipulators; screw theory; Acceleration; End effectors; Equations; Fasteners; Jacobian matrices; Kinematics; Mechatronics; Mobile robots; Motion analysis; Robotics and automation; imaginary-mechanism method; influence coefficient; screw theory;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257585
