Kinematics and statics analysis of a novel 5-DoF parallel manipulator with two composite rotational/linear active legs

Authors:
Yi Lu;Peng Wang;Shaohua Zhao;Bo Hu;Jianda Han;Chunping Sui
Affiliations:
-;-;-;-;-;-
Venue:
Robotics and Computer-Integrated Manufacturing
Year:
2014

Citing 5
Cited 0

Design of a novel 5-DOF parallel kinematic machine tool based on workspace

Robotica
Dynamic model and force control of the redundantly actuated parallel manipulator of a 5-dof hybrid machine tool

Robotica
Type Synthesis of Parallel Mechanisms

Type Synthesis of Parallel Mechanisms
Parallel Robots

Parallel Robots
Kinematics/statics and workspace analysis of a 3-leg 5-dof parallel manipulator with a upu-type composite active constrained leg

Robotica

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Abstract

A novel 5-DoF parallel manipulator (PM) with two composite rotational/linear active legs is proposed and its kinematics and statics are studied systematically. First, a prototype of this PM is constructed and its displacement is analyzed. Second, the formulas are derived for solving the linear/angular velocity and acceleration of UPS composite active leg. Third, the Jacobian and Hessian matrices are derived and formulas for solving the velocity, statics and acceleration of this PM are derived. Third, a reachable work space is constructed using a CAD variation geometric approach. Finally, the kinematics and statics of this PM are illustrated and solved. The solved results are verified by the simulation results.