Kinematic analysis of the 3-CUP parallel mechanism

Cuan-Urquizo, Enrique; Rodriguez-Leal, Ernesto

doi:10.1016/j.rcim.2013.03.002

Cited by 18 publications

(12 citation statements)

References 8 publications

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“…Note that the results presented in the third column of Table 2 are obtained from the function of displacement measure and Bryant angles in Solidworks, where the maximum discrepancy of the results compared to the simulation show an error of 0.00275%, which is significantly low, despite the complexity of the closed form solution and with higher precision when compared to other 2R1T architectures, as reported in [15]. Concerning the parasitic motions that are fully determined during the simulations and numeric exercises, these are considered acceptable due to their limited magnitude.…”

Section: Position Analysis Of the 3-crcmentioning

confidence: 75%

“…The above mentioned examples of PMs have been proposed in order to produce lower mobility PMs that have lower cost than full mobility PMs, and that are applied in specific tasks where full mobility PMs are overqualified for the same tasks. The novel architecture presented in this paper was developed through the mechanical modification of the 3-CUP PM presented in [13, 14] and [15] in order to simplify the construction of a PM that has the features of the 2R1T family.…”

Section: Introductionmentioning

confidence: 99%

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Instantaneous Kinematics Analysis via Screw-Theory of a Novel 3-CRC Parallel Mechanism

Torre

Rodriguez-Leal

2016

International Journal of Advanced Robotic Systems

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This paper presents the mobility and kinematics analysis of a novel parallel mechanism that is composed by one base, one platform and three identical limbs with CRC joints. The paper obtains closed-form solutions to the direct and inverse kinematics problems, and determines the mobility of the mechanism and instantaneous kinematics by applying screw theory. The obtained results show that this parallel robot is part of the family 2R1T, since the platform shows 3 DOF, i.e.: one translation perpendicular to the base and two rotations about skew axes. In order to calculate the direct instantaneous kinematics, this paper introduces the vector m h , which is part of the joint velocity vector that multiplies the overall inverse Jacobian matrix. This paper compares the results between simulations and numerical examples using Mathematica and SolidWorks in order to prove the accuracy of the analytical results.

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Section: Position Analysis Of the 3-crcmentioning

confidence: 75%

Section: Introductionmentioning

confidence: 99%

Instantaneous Kinematics Analysis via Screw-Theory of a Novel 3-CRC Parallel Mechanism

Torre

Rodriguez-Leal

2016

International Journal of Advanced Robotic Systems

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“…Verify the correctness of Jacobian matrix and the forward kinematics by comparing the numerical solution obtained by Eqs. ( 22) and ( 23) and the measurement obtained by 3D model, when giving two tiny value as inputs [33] . Four sets of data under two general configurations are given, as shown in Table 1.…”

Section: Verification Of Kinematic Analysismentioning

confidence: 99%

Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism

Chen¹,

Chen²,

Gao³

et al. 2021

Preprint

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In this paper, a novel two-degree-of-freedom (2DOF) spherical parallel mechanism(SPM) with symmetrical structure is proposed and analyzed. First, the models of forward kinematics and inverse kinematics are established based on D-H parameters, and the Jacobian matrix of the mechanism is obtained and verified. Second, the workspace of the mechanism is obtained according to inverse kinematics and link interference conditions. Next, rotational characteristics analysis shows that the end effector can achieve continuous rotation about an axis located in the mid-plane and passing through the rotation center of the mechanism. Moreover, the rotational characteristics of the mechanism are proved and motion planning is carried out. A numerical example is given to verify the kinematics analysis and motion planning. Finally, some variant mechanisms can be synthesized. This work lays the foundation for the motion control and practical application of this 2DOF SPM.

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“…Rodriguez-Leal and Dai [6,7] proposed a 3-CUP SPM,and studied the mobility of the mechanism. Recently, the kinematic problems including position analysis, singularity analysis Mechanism and Machine Theory 104 (2016) [222][223][224][225][226][227][228][229][230][231][232][233] and workspace analysis of the 3-CUP SPM have been investigated by Cuan-Urquizo [8]. Recently, Zhang [9] designed a novel 3-DOF parallel robotic manipulator with decoupled motions, and examined the kinematic modeling of the parallel manipulator in terms of inverse and forward kinematics study, velocity analysis, singularity analysis, as well as stiffness analysis.…”

Section: Introductionmentioning

confidence: 99%

Kinematics analysis of a novel over-constrained three degree-of-freedom spatial parallel manipulator

Zhao

2016

Mechanism and Machine Theory

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Kinematic analysis of the 3-CUP parallel mechanism

Cited by 18 publications

References 8 publications

Instantaneous Kinematics Analysis via Screw-Theory of a Novel 3-CRC Parallel Mechanism

Instantaneous Kinematics Analysis via Screw-Theory of a Novel 3-CRC Parallel Mechanism

Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism

Kinematics analysis of a novel over-constrained three degree-of-freedom spatial parallel manipulator

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