Kinematic Analysis of a 3-Axis Parallel Manipulator : The P3
Joint Authors
Chen, Zhi
Chen, Qiaohong
Chai, Xinxue
Li, Qinchuan
Source
Advances in Mechanical Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-06-03
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
This paper presents kinematic analysis of a 3-axis parallel manipulator, called P3.
The P3 parallel manipulator is developed based on a 3-PRRU parallel mechanism, where P denotes prismatic pair, R revolute pair, and U universal joint.
The P3 parallel manipulator can undergo two rotations and one translation without parasitic motion.
First, a brief description of the P3 is presented.
Then, forward and inverse kinematic solutions of the P3 are derived.
Parasitic motion is discussed.
The Jacobian matrix is obtained based on the velocity equations.
Further, singular configurations of the P3 are identified.
A special configuration where the actuation fails is also detected based on screw theory.
The workspace of P3 is investigated.
American Psychological Association (APA)
Chen, Qiaohong& Chen, Zhi& Chai, Xinxue& Li, Qinchuan. 2013. Kinematic Analysis of a 3-Axis Parallel Manipulator : The P3. Advances in Mechanical Engineering،Vol. 2013, no. 2013, pp.1-10.
https://search.emarefa.net/detail/BIM-483110
Modern Language Association (MLA)
Chen, Qiaohong…[et al.]. Kinematic Analysis of a 3-Axis Parallel Manipulator : The P3. Advances in Mechanical Engineering No. 2013 (2013), pp.1-10.
https://search.emarefa.net/detail/BIM-483110
American Medical Association (AMA)
Chen, Qiaohong& Chen, Zhi& Chai, Xinxue& Li, Qinchuan. Kinematic Analysis of a 3-Axis Parallel Manipulator : The P3. Advances in Mechanical Engineering. 2013. Vol. 2013, no. 2013, pp.1-10.
https://search.emarefa.net/detail/BIM-483110
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-483110
