INSTANTANEOUS KINEMATIC CHARACTERISTICS OF ASPECIAL 3-UPU PARALLEL MANIPULATOR  

作　　者：Li Shihua Huang Zhen 

机构地区：[1]College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China

出　　处：《Chinese Journal of Mechanical Engineering》2005年第3期376-381,共6页中国机械工程学报（英文版）

基　　金：This project is supported by National Natural Science Foundation of China(No.50075074).

摘　　要：The instantaneous kinematics of a special 3-UPU parallel platform manipulator is discussed. First, the instantaneous motions of the 3-UPU manipulator in four kinds of positions and a special manipulator are studied by reciprocal screw theory. Then, the principal screws in one of four positions are obtained. It is shown that the moving platform has five degrees of freedom （DOF） in the initial position or after a translation along the z-axis; In the generic position, the mechanism only has three DOF, moreover the three DOF characteristics are different in different position. The instantaneous kinematic characteristics of alike 3-UPU mechanisms are very different in different position and special structure. The results presented are important to the use of alike 3-UPU parallel manipulator and contribute to the mechanism theory .The instantaneous kinematics of a special 3-UPU parallel platform manipulator is discussed. First, the instantaneous motions of the 3-UPU manipulator in four kinds of positions and a special manipulator are studied by reciprocal screw theory. Then, the principal screws in one of four positions are obtained. It is shown that the moving platform has five degrees of freedom （DOF） in the initial position or after a translation along the z-axis; In the generic position, the mechanism only has three DOF, moreover the three DOF characteristics are different in different position. The instantaneous kinematic characteristics of alike 3-UPU mechanisms are very different in different position and special structure. The results presented are important to the use of alike 3-UPU parallel manipulator and contribute to the mechanism theory .

关 键 词：Parallel manipulator Reciprocal screw Principal screws Instantaneous kinematic characteristics 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]