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Kinematic and Dynamic Analysis of a 3-PRUS Spatial Parallel Manipulator
2020
Chinese Journal of Mechanical Engineering
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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
2006
IEEE Transactions on robotics
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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
2003
The international journal of robotics research
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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