Dexterity Analysis of 6-dof 3-u^rps Parallel Mechanism

Abstract:

The kinematics analysis is carried out on a kind of 3-urps parallel mechanism (pm) with 6-dof. The positional inverse solution and Jacobean matrixes which is used to analyze the dexterity of mechanism are derived. Condition number is used as evaluating indicator of dexterity in this article, and its’ three-dimensional graphs are drawn when this mechanism in different attitudes. It is indicated that dexterity of moving is excelled than the rotary movement’s for this pm. The optimum dexterity can be obtained in the center of mechanism’s workroom, which can be applied to further characteristic analysis and kinematic design of mechanisms.

• Periodical: Advanced Materials Research (Volumes 591-593)
• Pages: 754-757
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.591-593.754
• Online since: November 2012
• Authors: Hong Li Yun, Xiao Na Song
• Keywords: Dexterity, Inverse Solution, Jacobean Matrix, Parallel Mechanism

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