Forward and Inverse Position Solution Analysis of 2UPR/1SPR 3-DOF Parallel Mechanism

Hong Jun San; Yuan Ming Wang; Jian Xiong Liu

doi:10.4028/www.scientific.net/AMR.605-607.1573

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 605-607Forward and Inverse Position Solution Analysis of...

Forward and Inverse Position Solution Analysis of 2UPR/1SPR 3-DOF Parallel Mechanism

Abstract:

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.

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Periodical:

Advanced Materials Research (Volumes 605-607)

Pages:

1573-1576

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.605-607.1573

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Online since:

December 2012

Authors:

Hong Jun San, Yuan Ming Wang, Jian Xiong Liu

Keywords:

4 Degrees of Freedom, Forward Position Solution, Inverse Position Solution, Moving Character, Parallel Mechanism

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