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Kinematics/statics and workspace analysis of a 3-leg 5-DoF parallel manipulator with a UPU-type composite active constrained leg
Published online by Cambridge University Press: 17 May 2012
Summary
A novel 3-leg 5-DoF parallel manipulator (PM) with a UPU-type composite active constrained leg is proposed and its kinematics and statics are analyzed systematically. First, the formulae are derived for solving the inverse/forward displacements, inverse/forward velocities, and active/constraint forces. Second, the formulae are derived for solving inverse/forward accelerations. Third, a simulation mechanism of this PM is created and its workspace is constructed and analyzed. Finally, the analytic results are verified by its simulation mechanism.
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