Construction and Kinematic Properties of 3-UPU Parallel Mechanisms

Huang, Zhen; Li, Q. C.

doi:10.1115/detc2002/mech-34321

Cited by 18 publications

(11 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…The 3UPU parallel platform has also been extensively studied by scholars. Huang and Li [7] summarized a variety of 3UPU parallel platforms, including 5-DOF parallel platform, 3-DOF spherical parallel platform, 3-DOF translation parallel platform, and 4-DOF parallel platform. In principle, the mobility of the moving platform is determined by the layout of linear limbs and the arrangement of The associate editor coordinating the review of this manuscript and approving it for publication was Yangmin Li .…”

Section: Introductionmentioning

confidence: 99%

“…For case III, if the moving platform needs to meet 3-DOF rotation and 1-DOF translation, it means that the 3 constraint forces formed by the three UPU limbs are co-planar. The joints of the UPU limb are R x R z P 1 R c R d , where the c-axis is parallel to the z-axis and the d-axis parallel to the x-axis, forming a 4-DOF parallel platform [7]. For case IV, if the moving platform needs to meet 3-DOF rotation and 2-DOF translation, it means that the 3 constraint couples formed by the three UPU limbs are co-linear.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Kinematics Analysis of 3UPU_UP Coupling Parallel Platform in the Marine Environment

Xiong

Tang

2020

IEEE Access

View full text Add to dashboard Cite

A study of the kinematic characteristics of a 3UPU_UP coupling parallel platform that has three-degree-of-freedom(3-DOF). In this article, a novel 3UPU_UP parallel platform is presented, which is based on the 5-DOF 3UPU parallel platform by adding a UP followed limb. The DOFs and motion constraints of the platform are analyzed by the screw theory, and the coupling constraint equation of the platform is obtained through coordinate transformation. The inverse kinematics equation of the platform is derived by the closed-loop method, and the forward kinematics equation of the platform is solved by Netwon-Rapson iteration. The trajectory of the platform in space is obtained and the correctness of the coupling constraint equation of the platform in other DOFs is verified. Considering that the motion of a ship on the sea is multi-DOF and complicated, the motion of the cargo on the ship can be compensated by using a coupling characteristic of the platform to improve the safety of marine operations. INDEX TERMS 3UPU_UP parallel platform, coupled constraint equation, Kinematic analysis, ocean wave model.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Kinematics Analysis of 3UPU_UP Coupling Parallel Platform in the Marine Environment

Xiong

Tang

2020

IEEE Access

View full text Add to dashboard Cite

show abstract

“…At the end of this paper, a numerical example analysis is given. This method is suitable for many similar mechanisms without overconstraint, such as 3T0R mechanisms (symbol 3T0R denotes the mechanisms with three translational mobility and without rotation mobility): 3-5R, 22 3-RRUR, 23 3-UPU, 24 3-RPUR; 25 3R: 3-UPU, 26 3-RPR(RR), 27 3-RRS, 28 3-RR(RRR), 3-RRR(RR); 29 2R1T: 3-RRR(RR), 29 3-RPR(RR); 27 1T2R: 3-RRR(RR), 3-RR(RRR), 29 etc. These mechanisms are all statically determinate ones.…”

Section: Introductionmentioning

confidence: 99%

A force analysis of a 3-RPS parallel mechanism by using screw theory

2011

Self Cite

View full text Add to dashboard Cite

SUMMARYThe force analysis of parallel manipulators is one of the important issues for mechanical design and control, but it is quite difficult often because of the excessive unknowns. A new approach using screw theory for a 3-RPS parallel mechanism is proposed in this paper. It is able to markedly reduce the number of unknowns and even make the number of simultaneous equations to solve not more than six each time, which may be called force decoupling. With this method, first the main-pair reactions need to be solved for, and then, the active forces and constraint reactions of all other kinematic pairs can be simultaneously obtained by analyzing the equilibrium of each body one by one. Finally, a numerical example and a discussion are given.

show abstract

“…Karouia and Hervé 14 proposed a kind of pure rotation 3-UPU parallel mechanism and Di Gregorio 15 researched its singular and static problems. Besides, Huang 16 integrated some different 3-UPU parallel mechanism and analyzed their kinematics characteristics. Lu and Hu 17 constructed a type of parallel mechanisms of two-universal hinge-prismatic jointuniversal hinge plus X joint (2UPUþX).…”

Section: Introductionmentioning

confidence: 99%

Kinematics and dynamics analysis of a novel 2PC-CPR parallel mechanism

Lin

Wang

Chun

et al. 2016

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

A novel parallel mechanism of two translations and one rotation freedom degrees two-prismatic joint-cylindrical jointone-cylindrical joint-prismatic joint-revolute joint (2PC-CPR) is proposed. The mechanism can be applied to write Chinese characters and to classify productions with the appropriated control. In this article, the kinematics and dynamics analysis are systematically conducted with the following procedure. First of all, the 2PC-CPR parallel mechanism is designed by G F set and the freedom degree of the mechanism is calculated using screw theory. Then the formula for solving the inverse/forward displacement, velocity, and acceleration is derived based on the geometrical constraints. The dynamics model is established by using virtual work principle. Finally, kinematics SimMechanics model is created by the co-simulation of SolidWorks and MATLAB software, and its workspace is analyzed.

show abstract

Construction and Kinematic Properties of 3-UPU Parallel Mechanisms

Cited by 18 publications

References 0 publications

Kinematics Analysis of 3UPU_UP Coupling Parallel Platform in the Marine Environment

Kinematics Analysis of 3UPU_UP Coupling Parallel Platform in the Marine Environment

A force analysis of a 3-RPS parallel mechanism by using screw theory

Kinematics and dynamics analysis of a novel 2PC-CPR parallel mechanism

Contact Info

Product

Resources

About