Kinematics analysis of a novel 2R1T 3-PUU parallel mechanism with multiple rotation centers

Ziming Chen, Meng Li, Xianwen Kong, Chen Zhao

Research output: Contribution to journalArticle

Abstract

In this paper, we present a novel three-degree-of-freedom (3-DOF) 3-PUU parallel mechanism (PM) with multiple rotation centers. Having two rotational DOFs and one translational DOF, the 3-PUU parallel robot consists of a fixed platform, a movable platform, and three identical PUU branches. Each PUU branch is composed of one prismatic(P) joint and two universal(U) joints. The mobility of initial configuration of the 3-PUU PM is analyzed using the reciprocal screw theory. Analysis of the 3-PUU PM's mobility of general configuration is performed based on its geometrical characteristics. The movable platform of the 3-PUU PM is demonstrated to be capable of rotating around multiple points. The singularities of 3-PUU PM are discussed. Using the inverse kinematics method, the workspace is obtained. Numerical examples are provided to illustrate the motion characteristics of the 3-PUU PM as a mechanism with multiple rotation centers.
Original languageEnglish
Article number103938
JournalMechanism and Machine Theory
Volume152
Early online date7 Jun 2020
DOIs
Publication statusPublished - Oct 2020

Keywords

  • Inverse kinematics
  • Multiple rotation centers
  • Parallel mechanism
  • Singularity
  • Workspace

ASJC Scopus subject areas

  • Bioengineering
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications

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