The kinematics study of a class of spatial parallel mechanism with fewer degrees of freedom

Abstract

This paper presents a novel methodology to study the kinematics of a class of spatial parallel mechanisms with fewer degrees of freedom (DoF). Compared with the traditional methods, the distinctive merit of this methodology is that it shortens the whole process greatly based on the analysis of the DoF of the manipulator. Besides, the forward and inverse kinematic problems can be expressed in a set of differential equations. This methodology should solve the kinematic analysis and calculation problems for a class of spatial parallel mechanisms with fewer DoF.

An Application of Jacobian Matrix in Kinematic of Multi-loop Spatial Mechanism

“…Multi-loop parallel spatial mechanisms with less liberty solved by the forward and inverse kinematics in a number of distinguishing equations. According to Zhou et al, reciprocal screw theory equation solves by inverse screw that decides the dimension and independent movement [8].…”

A Comparison Study of Two 3-UPU Translational Parallel Manipulators

“…From Eqs. ( 4) to (6), it is known that the second 3-UPU PM can get three translational DOFs naturally without keeping Ri1||Ri4 specially. Compared with Tsai's 3UPU PM, the assembling and adjustment for the second 3-UPU PM becomes easier.…”

“…Lower mobility PMs have attracted more and more attention in recent years [1, 2] due to their simple structure, low manufacturing cost and easy control. Pure translational PMs [1–10] have been investigated in-depth due to their particular kinematical properties. Tsai and Joshi [2, 3] proposed a pure translational 3-UPU PM and made a comparison study for translational 3-UPUs and Tricept PMs.…”

“…This family of asymmetrical 3-UPU PMs includes two types, one with three translational DOFs and another with two translational and one rotational DOFs. Zhou and Zhao [6] proposed a novel method to study the kinematics of a 3-DOF translational PM. Li and Gao [7] proposed a 3-DOF translational PM with decoupled motion named R-CUBE.…”

Kinematics and statics analysis of a novel 4-dof 2SPS+2SPR parallel manipulator and solving its workspace

“…Kim, 16 Merlet 17 et al studied Jacobian matrix of various PKMs by adopting different approaches. Zhou et al 18 studied the kinematics of some limited-dof PKMs. Lu 19,20 analyzed the kinematics and statics of some limited-dof PKMs by the CAD variation geometry.…”