Kinematics analysis of the CUR translational manipulator

Kinematics and Dynamics of a Translational Parallel Robot Based on Planar Mechanisms

“…Zhao and Z. Huang [8] 3-RRC R. Di Gregorio [9] 3-URC X. Kong and C.M. Gosselin [10] 3-CRR M.Callegari and M. Tarantini [11] 3-RPC G. Gogu [12,13] 3-CRR (Isoglide) Y. Li and Q. Xu [14] 3-PRC W. Li , F. Gao and J. Zhang [15] R-CUBE M. Callegari , M. Palpacelli and M. Scarponi [16] 3-CPU M. Callegari , M. Palpacelli and M. Scarponi [17] 3-RCC M. Ruggiu [18] 3-CUR S. Briot and I.A. Bonev [19] 3-pantographs (Pantopteron) C = cylindrical joint, P = prismatic joint, R = revolute joint, S = spherical joint, U = universal joint.…”

A novel three degrees of freedom partially decoupled robot with linear actuators

“…The IPM is a TPM 20 whose role is to keep constant the orientation of the end-effector platform with respect to the fixed platform, whereas the EPM is a three-legged 15 3-CUR C = cylindrical joint, P = prismatic joint, R = revolute joint, S = spherical joint, U = universal joint. asymmetric parallel manipulator, SP + SPR + SPU, whose function is to provide three translational movements to the control point and it is an adaptation of the four degrees of freedom partially decoupled parallel manipulator introduced by Gallardo-Alvarado et al 21 The adjustablelength limbs q i (i = 1, 2, 3), with associated vectors q i (in the remainder of this work i = 1, 2, 3), are chosen as the active kinematic pairs of the robot and since they provide rectilinear forces, then the proposed manipulator can be used not only as a pick-and-place manipulator but also as a spatial translational machine tool.…”

Kinematic Analysis of 3-UCR Parallel Robot Leg

“…The forward position-stance analysis of the parallel manipulators is the basis of structure synthesis, kinematic analysis and dynamic optimization, and many researchers had paid more attention to it gradually (Ruggiu, 2008;Kim & Park, 2001;Jaime et al, 2006;Lu et al, 2008). However, the forward position-stance analysis of the parallel manipulator is more difficult than the inverse position-stance analysis because it is essential to solve the multivariate nonlinear equations.…”