Kinematics of a 3 RPS parallel pyramid manipulator are investigated by principal screw. Firstly, the principal screws are identified by quadric degeneration. The planar conics representing the relations between the p...Kinematics of a 3 RPS parallel pyramid manipulator are investigated by principal screw. Firstly, the principal screws are identified by quadric degeneration. The planar conics representing the relations between the pitches and the three linear inputs are described, and the three dimensional distribution of the axes of all the twists is illustrated. Finally, a numerical example is given successfully.展开更多
The instantaneous kinematics of a special 3-UPU parallel platform manipulator is discussed. First, the instantaneous motions of the 3-UPU manipulator in four kinds of positions and a special manipulator are studied by...The instantaneous kinematics of a special 3-UPU parallel platform manipulator is discussed. First, the instantaneous motions of the 3-UPU manipulator in four kinds of positions and a special manipulator are studied by reciprocal screw theory. Then, the principal screws in one of four positions are obtained. It is shown that the moving platform has five degrees of freedom （DOF） in the initial position or after a translation along the z-axis; In the generic position, the mechanism only has three DOF, moreover the three DOF characteristics are different in different position. The instantaneous kinematic characteristics of alike 3-UPU mechanisms are very different in different position and special structure. The results presented are important to the use of alike 3-UPU parallel manipulator and contribute to the mechanism theory .展开更多
文摘Kinematics of a 3 RPS parallel pyramid manipulator are investigated by principal screw. Firstly, the principal screws are identified by quadric degeneration. The planar conics representing the relations between the pitches and the three linear inputs are described, and the three dimensional distribution of the axes of all the twists is illustrated. Finally, a numerical example is given successfully.
基金This project is supported by National Natural Science Foundation of China(No.50075074).
文摘The instantaneous kinematics of a special 3-UPU parallel platform manipulator is discussed. First, the instantaneous motions of the 3-UPU manipulator in four kinds of positions and a special manipulator are studied by reciprocal screw theory. Then, the principal screws in one of four positions are obtained. It is shown that the moving platform has five degrees of freedom （DOF） in the initial position or after a translation along the z-axis; In the generic position, the mechanism only has three DOF, moreover the three DOF characteristics are different in different position. The instantaneous kinematic characteristics of alike 3-UPU mechanisms are very different in different position and special structure. The results presented are important to the use of alike 3-UPU parallel manipulator and contribute to the mechanism theory .
