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Kinematics/statics and workspace analysis of a 3-leg 5-DoF parallel manipulator with a UPU-type composite active constrained leg
Lu Y(路懿); Zhang XL(张秀礼); Sui CP(隋春平); Han JD(韩建达); Hu B(胡波)
Department机器人学研究室
Source PublicationRobotica
ISSN0263-5747
2013
Volume31Issue:2Pages:183-191
Indexed BySCI ; EI
EI Accession number20130615995729
WOS IDWOS:000314166300002
Contribution Rank3
KeywordParallel Manipulator Kinematics Activeforce Constraint Force Workspace
Abstract

A novel 3-leg 5-DoF parallel manipulator (PM) with a UPU-type composite active constrained leg is proposed and its kinematics and statics are analyzed systematically. First, the formulae are derived for solving the inverse/forward displacements, inverse/forward velocities, and active/constraint forces. Second, the formulae are derived for solving inverse/forward accelerations. Third, a simulation mechanism of this PM is created and its workspace is constructed and analyzed. Finally, the analytic results are verified by its simulation mechanism. © Cambridge University Press 2012.

Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectRobotics
WOS KeywordScrew Theory ; 3-dof ; Mechanisms ; Dynamics ; 4-dof
WOS Research AreaRobotics
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/10620
Collection机器人学研究室
Corresponding AuthorLu Y(路懿)
Affiliation1.Robotics Research Centre, School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, China
2.College of Qinhuangdao Building Material, Qinhuangdao, Hebei 066004, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Liaoning 110016, China
Recommended Citation
GB/T 7714
Lu Y,Zhang XL,Sui CP,et al. Kinematics/statics and workspace analysis of a 3-leg 5-DoF parallel manipulator with a UPU-type composite active constrained leg[J]. Robotica,2013,31(2):183-191.
APA Lu Y,Zhang XL,Sui CP,Han JD,&Hu B.(2013).Kinematics/statics and workspace analysis of a 3-leg 5-DoF parallel manipulator with a UPU-type composite active constrained leg.Robotica,31(2),183-191.
MLA Lu Y,et al."Kinematics/statics and workspace analysis of a 3-leg 5-DoF parallel manipulator with a UPU-type composite active constrained leg".Robotica 31.2(2013):183-191.
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