Title :
Design and analysis of a spatial 2-RPU & SPR parallel manipulator with 1T2R-Type
Author :
Bin Li ; Yangmin Li ; Xinhua Zhao ; Yuwei Yang
Author_Institution :
Dept. of Electromech. Eng., Univ. of Macau Taipa, Macao, China
Abstract :
A spatial 2-RPU&SPR parallel manipulator (PM) with three degrees of freedom (DOF) is proposed in this paper. The architecture of the manipulator is comprised of a moving platform attached to a base through two revolute-prismatic-universal jointed serial linkages and one spherical-prismatic-revolute jointed serial linkage. The prismatic motions of the prismatic joints are considered to be actively actuated. The moving platform of the manipulator has one-translational and two rotational (1T2R) DOFs with respect to the fixed base. The kinematics including forward and inverse position analysis is analyzed. At last, the simulations of position and velocity of the manipulator are made to validate the algorithm.
Keywords :
couplings; manipulator kinematics; 1T2R-type; SPR parallel manipulator; forward position analysis; inverse position analysis; kinematics; manipulator position; manipulator velocity; moving platform; one-translational and two rotational DOF; prismatic joint prismatic motions; revolute-prismatic-universal jointed serial linkages; spatial 2-RPU analysis; spatial 2-RPU design; spherical-prismatic-revolute jointed serial linkage; three degrees of freedom; Actuators; Couplings; Jacobian matrices; Joints; Kinematics; Manipulators; Vectors; Analysis; Design; Parallel Manipulator;
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2014 13th International Conference on
DOI :
10.1109/ICARCV.2014.7064603
