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Kinematic and Dynamic Analysis of a 3-PRUS Spatial Parallel Manipulator

Mervin Joe Thomas, M. L. Joy, A. P. Sudheer
2020 Chinese Journal of Mechanical Engineering  
In this paper, the kinematic and dynamic analysis of a novel 3-PRUS (P: prismatic joint, R: revolute joint, U: universal joint, S: spherical joint) parallel manipulator with a mobile platform having 6  ...  Degree of Freedom (DoF) is explained.  ...  Acknowledgements The authors thank the members of the Robotics/Mechatronics Lab NITC for providing the necessary facilities and machinery to build the prototype of the manipulator. Thomas et al.  ... 
doi:10.1186/s10033-020-0433-8 fatcat:a67paxwmhfajjlw2hc6ontfxza

Singularity condition of six-degree-of-freedom three-legged parallel robots based on grassmann-cayley algebra

P. Ben-Horin, M. Shoham
2006 IEEE Transactions on robotics  
This paper addresses the singularity condition of a broad class of six-degree-of-freedom three-legged parallel robots that have one spherical joint somewhere along each leg.  ...  These tools are advantageous since they facilitate manipulation of coordinate-free expressions representing geometric entities, thus enabling the geometrical interpretation of the singularity condition  ...  CONCLUSION This paper presents singularity analysis for a broad family of parallel robots. These are 6-DOF three-legged robots which have one spherical joint in each leg-chain.  ... 
doi:10.1109/tro.2006.878958 fatcat:la3z2lp6qjgdzoqyvckv5lzunm

Some New Parallel Mechanisms Containing the Planar Four-Bar Parallelogram

Xin-Jun Liu, Jinsong Wang
2003 The international journal of robotics research  
Fabrication and analysis of a novel 3 DoF parallel wrist mechanism. ASME Journal of Mechanical Design 117 (2) :343-345.  ...  In this paper, the unique role of a parallelogram is used completely to design some new parallel mechanisms with two to six degrees of freedom (DoFs).  ...  There are also some 6-DoF parallel mechanisms with three legs, in each of which two actuators are attached, e.g., the 3-PRPS mechanism (Behi 1988; Alizade and Tagiyev 1994) , 3-PPSP (Byun and Cho 1997  ... 
doi:10.1177/02783649030229003 fatcat:ccque3sni5dotlvg6yfim65e64