| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 799980 | Mechanism and Machine Theory | 2008 | 13 Pages |
Abstract
In this paper, a novel 2SPS + PRRPR parallel manipulator with 3-leg 5-dof is proposed, and its kinematics, statics and workspace are studied systematically. First, the structure constraints and the inverse displacement are analysed. Second, the formulae for solving the inverse/forward velocities and accelerations, the active/constrained forces are derived. Third, a workspace is constructed and analysed. The analytic results are verified by its simulation mechanism to be consistent with the calculated ones.
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Authors
Yi Lu, Bo Hu, Shi-Hua Li, Xing-Bin Tian,