Kinematic Analysis of A Novel 2-UPU/2-URU Parallel Mechanism
Abstract. In this paper, a novel type of 2-UPU/2-URU asymmetric parallel mechanism is put forward, the degree of freedom and kinematics characteristics of the mechanism is analyzed. Firstly, based on screw theory, the degree of freedom of the mechanism is analyzed by using modified Grübler-Kutzbach formula of Degree of Freedom, the method is ingenious and simple. Then the kinematics analysis is done. Finally, the velocity and acceleration of the mechanism is analyzed by combining kinematic influence coefficient theory with imaginary mechanism method, and draw the velocity and acceleration performance curve of the mechanism with the MATLAB. This paper lays the foundation for further research of the parallel mechanism.
S. H. Li et al., "Kinematic Analysis of A Novel 2-UPU/2-URU Parallel Mechanism", Advanced Materials Research, Vols. 317-319, pp. 469-474, 2011