| INSTANTANEOUS KINEMATIC CHARACTERISTICS OF ASPECIAL 3-UPU PARALLEL MANIPULATOR |
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| 作者姓名： | Li ShihuaHuang ZhenCollege of Mechanical Engineering Yanshan University Qinhuangdao China |
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| 作者单位： | Li ShihuaHuang ZhenCollege of Mechanical Engineering，Yanshan University，Qinhuangdao 066004，China |
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| 基金项目： | This project is supported by National Natural Science Foundation of China(No.50075074). |
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| 摘 要： | 0 INTRODUCTIONA new hotspot of the research of parallel robots is the newstyle lower-mobility (2~5) parallel robots at present. Because osimple structure and low cost, the lower-mobility parallel robotcould be widely applied in industry and other field. O…
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| 关 键 词： | 3-UPU DOF 机器人 运动学分析 操纵性 |
INSTANTANEOUS KINEMATIC CHARACTERISTICS OF ASPECIAL 3-UPU PARALLEL MANIPULATOR |
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| Li ShihuaHuang ZhenCollege of Mechanical Engineering,Yanshan University,Qinhuangdao ,China.INSTANTANEOUS KINEMATIC CHARACTERISTICS OF ASPECIAL 3-UPU PARALLEL MANIPULATOR[J].Chinese Journal of Mechanical Engineering,2005,18(3):376-381. |
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| Authors: | Li Shihua Huang Zhen |
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| Affiliation: | College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China |
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| Abstract: | The instantaneous kinematics of a special 3-UPU parallel platform manipulator is dis-cussed. First, the instantaneous motions of the 3-UPU manipulator in four kinds of positions and aspecial manipulator are studied by reciprocal screw theory. Then, the principal screws in one of fourpositions are obtained. It is shown that the moving platform has five degrees of freedom (DOF) in theinitial position or after a translation along the 2-axis; In the generic position, the mechanism only hasthree DOF, moreover the three DOF characteristics are different in different position. The instantane-ous kinematic characteristics of alike 3-UPU mechanisms are very different in different position andspecial structure. The results presented are important to the use of alike 3-UPU parallel manipulatorand contribute to the mechanism theory |
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| Keywords: | Parallel manipulator Reciprocal screw Principal screwsInstantaneous kinematic characteristics |
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