A Comparison Study of Two 3-UPU Translational Parallel Manipulators

International Journal of Advanced Robotic Systems

关键词: Parallel Manipulator;    Constrained Forces/Torques;    Singularity;    Stiffness;   

DOI  :  10.5772/53394

学科分类：自动化工程

来源: InTech

【 摘 要 】

A comparison study of two 3-UPU translational parallel manipulators (PMs) is investigated in this paper. The two 3-UPU PMs have identical pure translational degree of freedoms (DOFs) and an identical actuator arrangement, and thus have identical kinematics. But some differences between the two translational 3-UPU PMs impliedly exist. The two PMs differ in terms of singularity configuration, constrained forces/torques situations and stiffness. This paper focuses on discussing the differences between the two translational 3-UPU PMs. This study provides insights into PMs with identical kinematics.

【 授权许可】

CC BY