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The instantaneous kinematics of a special 3-UPU parallel platform manipulator is dis-cussed. First, the instantaneous motions of the 3-UPU manipulator in four kinds of positions and aspecial manipulator are studied by reciprocal screw theory. Then, the principal screws in one of fourpositions are obtained. It is shown that the moving platform has five degrees of freedom (DOF) in theinitial position or after a translation along the 2-axis; In the generic position, the mechanism only hasthree DOF, moreover the three DOF characteristics are different in different position. The instantane-ous kinematic characteristics of alike 3-UPU mechanisms are very different in different position andspecial structure. The results presented are important to the use of alike 3-UPU parallel manipulatorand contribute to the mechanism theory
The instantaneous kinematics of a special 3-UPU parallel platform manipulator is dis-cussed. First, the instantaneous motions of the 3-UPU manipulator in four kinds of positions and aspecial manipulator are studied by reciprocal screw theory. Then, the principal screws in one of four positions are obtained. It shows that the moving platform has five degrees of freedom (DOF) in theinitial position or after a translation along the 2-axis; In the generic position, the mechanism only hasthree DOF, moreover the three DOF characteristics are The instantane-ous kinematic characteristics of alike 3-UPU mechanisms are very different in different positions and specific structure. The results presented are important to the use of alike 3-UPU parallel manipulatorand contribute to the mechanism theory