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

Authors:
Yi Lu;Bo Hu;Tao Sun
Affiliations:
Robotics research center, school of mechanical engineering, yanshan university, qinhuangdao, hebei 066004, p. r. china.;Robotics research center, school of mechanical engineering, yanshan university, qinhuangdao, hebei 066004, p. r. china.;Robotics research center, school of mechanical engineering, yanshan university, qinhuangdao, hebei 066004, p. r. china.
Venue:
Robotica
Year:
2009

Citing 2
Cited 1

Introduction to Robotics: Mechanics and Control

Introduction to Robotics: Mechanics and Control
Introduction to Robotics

Introduction to Robotics

Analysis of stiffness and elastic deformation of a 2(SP+SPR+SPU) serial-parallel manipulator

Robotics and Computer-Integrated Manufacturing

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Abstract

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.