کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
801974 1467779 2012 14 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Mobility and kinematic analysis of a parallel mechanism with both PPR and planar operation modes
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Mobility and kinematic analysis of a parallel mechanism with both PPR and planar operation modes
چکیده انگلیسی

This paper proposes a 1-RPU-2-UPU parallel manipulator with both PPR and planar operation modes. The mobility of the moving platform of the parallel manipulator in the two operational modes is analyzed via screw theory. The parallel manipulator has 3 degrees-of-freedom and allows the moving platform to move along a plane in the planar operation mode and to rotate about an axis that translates along a plane in the PPR operation mode. The transition between the two operational modes through transitional configurations is also discussed. The inverse and forward kinematic analysis and singularity analysis of the parallel manipulator are then dealt with by a vector approach. Finally, the constant orientation workspace and the reachable workspace are presented for the parallel manipulator in both operation modes.


► We carried out the mobility and kinematics analysis of the 1-RPU-2-UPU.
► We found that the manipulator has 2 operation modes with 3 DOFs: PPR and planar.
► We found a transitional configuration in which the moving platform has four DOF.
► We gave a geometrical interpretation of the direct singularities in both the modes.
► We obtained constant and reachable orientation workspaces in the operational modes.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 55, September 2012, Pages 77–90
نویسندگان
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