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 language | English |
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Article number | 103938 |
Journal | Mechanism and Machine Theory |
Volume | 152 |
Early online date | 7 Jun 2020 |
DOIs | |
Publication status | Published - 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