2006
Session ID : 1A1-B04
Conference information
1A1-B04 Kinematic Analysis of a Novel 3-URU Spherical Parallel Mechanism
Details
In this paper, mobility, displacement and singularity were kinematically analyzed for a novel 3-URU non-overconstrained spherical parallel mechanism, which consists of three symmetric limbs. Mobility analysis was carried out based on the screw theory to reveal that the mechanism performs pure rotational motion of the platform. Singularity analysis was performed by the terminal constraint theory. Equations for inverse displacement calculation were derived.
