Analysis of Position for the 4-PUU Parallel Manipulator

Shu Hua Sun

doi:10.4028/www.scientific.net/AMM.220-223.1757

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 220-223Analysis of Position for the 4-PUU Parallel...

Analysis of Position for the 4-PUU Parallel Manipulator

Abstract:

An original 4-PUU parallelManipulator with three-dimensional translations and one rotational motion about Z axis was presented. Its positional inverse modals were set up by using the conversion of coordinates and projection in analytic geometry, and the method of the forward solution of theManipulator and corresponding numerical examples were given.This methods were verified by using MATLAB software,which can provide the basis for studying the parallel robots work space. And it has wide application in the fields of industrial robots, micromanipulators, virtual axis machine tools, damping platform, rehabilitation robot and other fields.

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Periodical:

Applied Mechanics and Materials (Volumes 220-223)

Pages:

1757-1760

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.220-223.1757

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Online since:

November 2012

Authors:

Shu Hua Sun

Keywords:

Parallel Manipulator, Position Analysis, Workspace

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References

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[2] Tingli Yang．Topology Structure Design of Robot Mechanisms[M]．Beijing：China Machine Press，2004（In chinese）.

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