Mechanism Design and Kinematics for Parallel Manipulators with a UPU Limb

Abstract:

The workspace of the parallel manipulators is relatively smaller than the serial manipulators. In order to improve the rotational capability, a new type of parallel manipulators with special topology structures and a special limb is proposed. The peculiarity is that the parallel manipulators involve a UPU limb, which makes their mobile platforms rotate continuously. Mechanisms of the type of parallel manipulators are described, and a general structure for this kind of parallel mechanisms is given. Moreover, their kinematic equations are developed to analyze their input-output characteristics. The research can enlarge the application area.

• Periodical: Advanced Materials Research (Volumes 694-697)
• Pages: 1729-1735
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.694-697.1729
• Online since: May 2013
• Authors: Xiao Hui Wang, Jian Jun Zhang, Kai Cheng Qi, Wei Min Li
• Keywords: Kinematics, Mechanism Design, Parallel Manipulator, UPU Limb

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