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Kinematics/statics and workspace analysis of a 3-leg 5-DoF parallel manipulator with a UPU-type composite active constrained leg

Published online by Cambridge University Press:  17 May 2012

Yi Lu ,
Xuili Zhang ,
Chunping Sui ,
Jianda Han  and
Bo Hu
Yi Lu*
Affiliation:
Robotics Research Centre, School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, PR China
Xuili Zhang
Affiliation:
College of Qinhuangdao Building Material, Qinhuangdao, Hebei 066004, PR China
Chunping Sui
Affiliation:
State Key Laboratory of Robotics (Shenyan Institute of Automation, Chinese Academy of Sciences), Liaoning 110016, PR China
Jianda Han
Affiliation:
State Key Laboratory of Robotics (Shenyan Institute of Automation, Chinese Academy of Sciences), Liaoning 110016, PR China
Bo Hu
Affiliation:
Robotics Research Centre, School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, PR China
*
*Corresponding author. E-mail: luyi@ysu.edu.cn
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Summary

A novel 3-leg 5-DoF parallel manipulator (PM) with a UPU-type composite active constrained leg is proposed and its kinematics and statics are analyzed systematically. First, the formulae are derived for solving the inverse/forward displacements, inverse/forward velocities, and active/constraint forces. Second, the formulae are derived for solving inverse/forward accelerations. Third, a simulation mechanism of this PM is created and its workspace is constructed and analyzed. Finally, the analytic results are verified by its simulation mechanism.

Keywords

Parallel manipulatorKinematicsActive forceConstraint forceWorkspace
Type
Articles
Information
Robotica , Volume 31 , Issue 2 , March 2013 , pp. 183 - 191
Copyright
Copyright © Cambridge University Press 2012

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