2011
DOI: 10.5772/45691
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Kinematic Characteristics of 3-UPU Parallel Manipulator in Singularity and Its Application

Abstract: This paper focuses on the kinematic characteristics of the 3-UPU (universal-prismatic-universal) parallel manipulator in one of singular configurations. The motion of the moving platform is analyzed by changing the layout of the universal joints. A layout of universal joints in the singular configuration is discussed in detail by deriving the kinematic and constraint equations. Solving the equations, the kinematic characteristics in such case is obtained. At the same time the kinematic characteristics is simul… Show more

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Cited by 12 publications
(6 citation statements)
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“…Substituting (7) in (8) to get the Determinant with respect to θ and φ. While taking into consideration that there will be two equations, one for Zone-1 and one for Zone-2.…”
Section: ) Derivation Of the Determinant With Respect To θAndφmentioning
confidence: 99%
See 1 more Smart Citation
“…Substituting (7) in (8) to get the Determinant with respect to θ and φ. While taking into consideration that there will be two equations, one for Zone-1 and one for Zone-2.…”
Section: ) Derivation Of the Determinant With Respect To θAndφmentioning
confidence: 99%
“…Others have tried to control joints motion to overcome singularity problems associated with those types of joints such as the work of Han and Park [6]. Applications of universal joints and 3 UPU manipulators have been reported by Binbin, Zengming, and Kai [7].…”
Section: Introductionmentioning
confidence: 99%
“…On the basis of dexterity, Huang (2011) designed the planar manipulator. Binbin et al (2011) tried to develop 3-DOF UPU kinematic structure and worked on the optimization and singularities. In 2012, Zhang and Fang (2012) proposed a 3-DOF PRS optimization based on interval analysis.…”
Section: Literaturementioning
confidence: 99%
“…Yu et al [61] proposed a 3-UPU PM architecture in which the R joint axes of the U joints of the base or moving platform are positioned parallel to each other inside the platform planes. Binbin et al [62] studied the singularities of these PMs. Miao et al [63] developed a rolling mechanism using such a 3-UPU PM, where the mobility, gait and stability analyzes of the PM were done.…”
Section: Introductionmentioning
confidence: 99%