Kinematics Analysis of 3-PUPU Parallel Robot
A new 3-PUPU parallel robot is proposed,its mechanism characteristic is introduced. The degree of freedom of the parallel robot end executor is analyzed based on the screw theory,and the kinematics model of the robot is established by using the three coordinate method. The kinematics analysis and re...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.06.003 |
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| _version_ | 1841547915656429568 |
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| author | Niu Xiaohui Sun Jianghong Pan Shangfeng Xu Liju |
| author_facet | Niu Xiaohui Sun Jianghong Pan Shangfeng Xu Liju |
| author_sort | Niu Xiaohui |
| collection | DOAJ |
| description | A new 3-PUPU parallel robot is proposed,its mechanism characteristic is introduced. The degree of freedom of the parallel robot end executor is analyzed based on the screw theory,and the kinematics model of the robot is established by using the three coordinate method. The kinematics analysis and research of the robot end executor are carried out by using analytical method. Finally,according to a group of examples and using MATLAB,the displacement,velocity and acceleration of the parallel robot end actuator are got,and the correctness of the theory inference is validated. |
| format | Article |
| id | doaj-art-67cfec11b63f493aaee0d85a8ee1f729 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-67cfec11b63f493aaee0d85a8ee1f7292025-01-10T14:16:58ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-0140121729924204Kinematics Analysis of 3-PUPU Parallel RobotNiu XiaohuiSun JianghongPan ShangfengXu LijuA new 3-PUPU parallel robot is proposed,its mechanism characteristic is introduced. The degree of freedom of the parallel robot end executor is analyzed based on the screw theory,and the kinematics model of the robot is established by using the three coordinate method. The kinematics analysis and research of the robot end executor are carried out by using analytical method. Finally,according to a group of examples and using MATLAB,the displacement,velocity and acceleration of the parallel robot end actuator are got,and the correctness of the theory inference is validated.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.06.003Parallel micromanipulatorScrew theoryMethod of three coordinatesKinematics analysis |
| spellingShingle | Niu Xiaohui Sun Jianghong Pan Shangfeng Xu Liju Kinematics Analysis of 3-PUPU Parallel Robot Jixie chuandong Parallel micromanipulator Screw theory Method of three coordinates Kinematics analysis |
| title | Kinematics Analysis of 3-PUPU Parallel Robot |
| title_full | Kinematics Analysis of 3-PUPU Parallel Robot |
| title_fullStr | Kinematics Analysis of 3-PUPU Parallel Robot |
| title_full_unstemmed | Kinematics Analysis of 3-PUPU Parallel Robot |
| title_short | Kinematics Analysis of 3-PUPU Parallel Robot |
| title_sort | kinematics analysis of 3 pupu parallel robot |
| topic | Parallel micromanipulator Screw theory Method of three coordinates Kinematics analysis |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.06.003 |
| work_keys_str_mv | AT niuxiaohui kinematicsanalysisof3pupuparallelrobot AT sunjianghong kinematicsanalysisof3pupuparallelrobot AT panshangfeng kinematicsanalysisof3pupuparallelrobot AT xuliju kinematicsanalysisof3pupuparallelrobot |