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Kinematics analysis of an offset 3-UPU translational parallel robotic manipulator

โœ Scribed by Ping Ji; Hongtao Wu

Publisher
Elsevier Science
Year
2003
Tongue
English
Weight
140 KB
Volume
42
Category
Article
ISSN
0921-8890

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โœฆ Synopsis

The parallel robotic manipulator has attracted many researchers' attention and it also has growing applications to different areas. This paper proposes a 3-UPU (universal-prismatic-universal) translational parallel robotic manipulator with an equal offset in its six universal joints, based on the zero offset 3-UPU parallel manipulator. The kinematics of the new manipulator is analyzed and its inverse and forward kinematics solutions are provided. The conclusion is that its forward kinematics has 16 solutions instead of two in the zero offset manipulator.

๐Ÿ“œ SIMILAR VOLUMES

Kinematics of an offset 3-UPU translatio
Kinematics of an offset 3-UPU translational parallel manipulator by the homotopy continuation method
โœ S.M. Varedi; H.M. Daniali; D.D. Ganji ๐Ÿ“‚ Article ๐Ÿ“… 2009 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 572 KB

For most parallel manipulators, the inverse kinematics is straightforward, while the direct kinematics is challenging. The latter requires the solution of a system of nonlinear equations. In this paper we use the homotopy continuation method to solve the forward and inverse kinematic problems of an