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Analyses of velocity, acceleration, statics, and workspace of a 2(3-SPR) serial-parallel manipulator

Published online by Cambridge University Press:  01 July 2009

Yi Lu ,
Bo Hu  and
Tao Sun
Yi Lu*
Affiliation:
Robotics Research Center, School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China.
Bo Hu
Affiliation:
Robotics Research Center, School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China.
Tao Sun
Affiliation:
Robotics Research Center, School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China.
*
*Corresponding author. E-mail: luyi@ysu.edu.cn
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Summary

The kinematics, statics, and workspace of a 2(3-SPR) serial-parallel manipulator (S-PM) are studied systematically in this paper. First, a 2(3-SPR) S-PM including an upper 3-SPR parallel manipulator (PM) and a lower 3-SPR PM is constructed, and the inverse/forward displacements, velocity, acceleration, and statics of the lower and upper 3-SPR PMs are studied, respectively. Second, the kinematics and statics of the lower and upper 3-SPR PMs are combined and the displacement, velocity, acceleration, and statics of a 2(3-SPR) S-PM are analyzed systematically. Third, a workspace of the 2(3-SPR) S-PM is constructed and analyzed. Finally, the analytic solved results are given and verified by the simulation mechanism.

Keywords

Parallel manipulatorsSerial-parallel manipulatorKinematicsStaticsWorkspace
Type
Article
Information
Robotica , Volume 27 , Issue 4 , July 2009 , pp. 529 - 538
Copyright
Copyright © Cambridge University Press 2008

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