| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 412568 | Robotics and Autonomous Systems | 2008 | 10 Pages |
Abstract
Two novel 3UPU I and 3UPU II PKMs (parallel kinematic machines) with two rotations and one translation are proposed, and their kinematics are studied systematically. First, the kinematic characteristics of the 3UPU I and 3UPU II PKMs are analyzed and the geometric constrained equations are derived. Second, some analytic formulae are derived for solving inverse displacement, inverse/forward velocity and acceleration of the two PKMs. Third, the reachable workspaces of the two PKMs are solved and analyzed. The analytic results are verified by their simulation mechanism.
Keywords
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Yi Lu, Yan Shi, Bo Hu,