Abstract
In this paper, we focus our attention on a novel 2RPU-PUR (P, R, U denotes prismatic, revolute and universal joint, respectively) parallel manipulator with two rotations and one translation (2R1T). The proposed manipulator has three limbs, which is composed of two identical RPU limbs and one PUR limb. Firstly, the degrees of freedom of the mechanism are obtained based on screw theory. Then, the velocity analysis and singularity analysis of the manipulator are analyzed. Three types of singularity, i.e., inverse singularity, forward singularity and combine singularity of the parallel manipulator are obtained based on the Jacobian matrix. Finally, the local of motion/force transmission and global transmission index are used to evaluate the performance of the manipulator. And the link parameters of the manipulator are optimized to obtain a better transmission performance. It is shown that the proposed 2RPU-PUR PM has a good performance for high precision application.
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The work is supported by the National Natural Science Foundation of China (NSFC) under Grant 51935010.
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Ji, W., Xie, Z., Chai, X. (2021). Kinematics and Dimensional Synthesis of a Novel 2RPU-PUR Parallel Manipulator. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13014. Springer, Cham. https://doi.org/10.1007/978-3-030-89098-8_71
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