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Singularity Analysis of a 2-UPR-RPU Parallel Mechanism
Journal of Mechanical Engineering
Abstract:The 3-DOF parallel mechanism (PM) with one translational and two rotational (1T2R) DOFs is an important category of the lower-mobility PM. The 1T2R 3-DOF PM can be classified into four categories based on the geometry between the two axes of rotations, P * U * -equivalent, UP-equivalent, PU-equivalent, RPR-equivalent PM. The singularity analysis mainly focuses on P * U * -equivalent and UP-equivalent PM, while there is few research on the PU-equivalent and PRP-equivalent PM. Adoi:10.3901/jme.2015.13.144 fatcat:bxccfhopuzhybntop6qq6ca3yu