Kinematic analysis of 5-RPUR (3T2R) parallel mechanisms

Mehdi Tale Masouleh, Clément Gosselin, Mohammad Hossein Saadatzi, Xianwen Kong, Hamid D. Taghirad

Research output: Contribution to journalArticle

Abstract

This paper investigates some kinematic properties of a five-degree-of- freedom parallel mechanism generating the 3T2R motion and comprising five identical limbs of the RPUR type. The general mechanism originates from the type synthesis performed for symmetrical 5-DOF parallel mechanism. In this study, two classes of simplified designs are proposed whose forward kinematic problem have either a univariate or a closed-form solution. The principal contributions of this study are the solution of the forward kinematic problem for some simplified designs-which may have more solutions than the FKP of the general 6-DOF Stewart platform with 40 solutions-and the determination of the constant-orientation workspace which is based on the topology of the vertex space (Bohemian dome) and a geometric constructive approach. © 2010 Springer Science+Business Media B.V.

Original languageEnglish
Pages (from-to)131-146
Number of pages16
JournalMeccanica
Volume46
Issue number1
DOIs
Publication statusPublished - Feb 2011

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Kinematics
Domes
Degrees of freedom (mechanics)
Topology
Industry

Keywords

  • 5-DOF parallel mechanisms
  • Bohemian dome
  • Constant-orientation workspace
  • Forward kinematic problem

Cite this

Tale Masouleh, M., Gosselin, C., Saadatzi, M. H., Kong, X., & Taghirad, H. D. (2011). Kinematic analysis of 5-RPUR (3T2R) parallel mechanisms. Meccanica, 46(1), 131-146. https://doi.org/10.1007/s11012-010-9393-x
Tale Masouleh, Mehdi ; Gosselin, Clément ; Saadatzi, Mohammad Hossein ; Kong, Xianwen ; Taghirad, Hamid D. / Kinematic analysis of 5-RPUR (3T2R) parallel mechanisms. In: Meccanica. 2011 ; Vol. 46, No. 1. pp. 131-146.
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Tale Masouleh, M, Gosselin, C, Saadatzi, MH, Kong, X & Taghirad, HD 2011, 'Kinematic analysis of 5-RPUR (3T2R) parallel mechanisms', Meccanica, vol. 46, no. 1, pp. 131-146. https://doi.org/10.1007/s11012-010-9393-x

Kinematic analysis of 5-RPUR (3T2R) parallel mechanisms. / Tale Masouleh, Mehdi; Gosselin, Clément; Saadatzi, Mohammad Hossein; Kong, Xianwen; Taghirad, Hamid D.

In: Meccanica, Vol. 46, No. 1, 02.2011, p. 131-146.

Research output: Contribution to journalArticle

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Tale Masouleh M, Gosselin C, Saadatzi MH, Kong X, Taghirad HD. Kinematic analysis of 5-RPUR (3T2R) parallel mechanisms. Meccanica. 2011 Feb;46(1):131-146. https://doi.org/10.1007/s11012-010-9393-x