The Proceedings of the Symposium on the Motion and Vibration Control
Online ISSN : 2424-3000
2010
Session ID : 2B22
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2B22 Kinematics and Singularity Analysis of a Novel 6-PUS/UPU Parallel Mechanism
Yanbin Duan, Shunpan Liang, Junxiang Jiang, Daxing Zeng, Kuijing Zheng, Yongsheng Zhao
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Keywords: Parallel mechanism, Screw theory, Kinematics analysis, Singularity analysis
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Abstract
In this paper, a novel 6-PUS/UPU parallel mechanism is presented. The mechanism exhibit advantageous characteristics such as higher rigidity, better positioning accuracy and can be used in the fields of vision measure, force control and redundant research. At first, kinematics analysis of the parallel mechanism is carried out; constrained wrench of the moving platform imposed by the middle limb UPU is obtained. Then, singularity analysis is performed.
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© 2010 The Japan Society of Mechanical Engineers
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