TY - JOUR
T1 - Kinematic analysis of a novel 2(3-RUS) parallel manipulator
AU - Sánchez-Alonso, Róger E.
AU - González-Barbosa, José Joel
AU - Castillo-Castaneda, Eduardo
AU - Gallardo-Alvarado, Jaime
N1 - Publisher Copyright:
© 2015 Cambridge University Press 2015.
PY - 2016/10/1
Y1 - 2016/10/1
N2 - This paper introduces a novel 6-DOF parallel manipulator, which is composed of two 3-RUS parallel manipulators that share a common three-dimensional moving platform. Semi-analytical form solutions are easily obtained to solve the forward displacement analysis of the robot using the non-planar geometry of the moving platform, whereas the velocity, acceleration, and singularity analyses are performed using screw theory. A case study is included to show the application of the kinematic model, which is verified with the aid of a commercially available software. Simple kinematic analysis and reduced singular regions are the main benefits of the proposed parallel manipulator.
AB - This paper introduces a novel 6-DOF parallel manipulator, which is composed of two 3-RUS parallel manipulators that share a common three-dimensional moving platform. Semi-analytical form solutions are easily obtained to solve the forward displacement analysis of the robot using the non-planar geometry of the moving platform, whereas the velocity, acceleration, and singularity analyses are performed using screw theory. A case study is included to show the application of the kinematic model, which is verified with the aid of a commercially available software. Simple kinematic analysis and reduced singular regions are the main benefits of the proposed parallel manipulator.
KW - Hexapods
KW - Kinematic analysis
KW - Parallel manipulators
KW - Screw theory
KW - Semi-analytical form solution
UR - http://www.scopus.com/inward/record.url?scp=84921845218&partnerID=8YFLogxK
U2 - 10.1017/S0263574714002860
DO - 10.1017/S0263574714002860
M3 - Artículo
SN - 0263-5747
VL - 34
SP - 2241
EP - 2256
JO - Robotica
JF - Robotica
IS - 10
ER -