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

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

doi:10.1007/s11012-010-9393-x

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

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

School of Engineering & Physical Sciences

Research output: Contribution to journal › Article › peer-review

38 Citations (Scopus)

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 language	English
Pages (from-to)	131-146
Number of pages	16
Journal	Meccanica
Volume	46
Issue number	1
DOIs	https://doi.org/10.1007/s11012-010-9393-x
Publication status	Published - Feb 2011

Keywords

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

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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. {\textcopyright} 2010 Springer Science+Business Media B.V.",

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AB - 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.

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JO - Meccanica

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

Abstract

Keywords

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