Analyzing Moving Character of a Novel Parallel Mechanism

Abstract:

A novel 3SPS/UP spatial 3-DOF parallel mechanism is studied. The studied mechanism is composed of a moving platform connected to a fixed platform by means of four actuated limbs. The three of the four limbs are SPS serial manipulators and the other one is UP serial manipulator. Each SPS limb consists of a spherical pair S connecting to the fixed platform, a prismatic pair P, and another spherical pair S connecting to the moving platform. The UP limb consists of eight Hoke joints U and a prismatic pair P. One side of the UP limb is connected to the fixed platform by Hoke joints U and another side is fixed to the moving platform. Moving character of this mechanism are analyzed by using the theory of screws. The moving platform of this mechanism have three translational DOFs

• Periodical: Advanced Materials Research (Volumes 605-607)
• Pages: 1568-1572
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.605-607.1568
• Online since: December 2012
• Authors: Hong Jun San*, Yuan Ming Wang, Jian Xiong Liu
• Keywords: 3 Degrees of Freedom, Moving Character, Parallel Mechanism, Screw Theory

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