Forward and Inverse Position Solution Analysis of 2UPR/1SPR 3-DOF Parallel Mechanism
In this paper, forward and inverse position solution are analyzed for a novel 2UPR/1SPR special 3-DOF parallel mechanism. The moving platform of this mechanism have 1 translational DOF and 2 rotational DOFs. The inverse position solution of this mechanism was deduced by analytical method. The decoupling equation of position and posture parameters are formulated on the basis of structural constraint of the concerned mechanism. The forward position solution of this mechanism is achieved by numerical method.
Pengcheng Wang, Xiangdong Liu and Yongquan Han
H. J. San et al., "Forward and Inverse Position Solution Analysis of 2UPR/1SPR 3-DOF Parallel Mechanism", Advanced Materials Research, Vols. 605-607, pp. 1573-1576, 2013