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Instantaneous Kinematic Characteristics of a Special 3-UPU Parallel Manipulator

[+] Author Affiliations
Shihua Li, Zhen Huang

Yanshan University, Qinhuangdao, Hebei, China

Paper No. DETC2005-84098, pp. 691-697; 7 pages
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME


The instantaneous kinematics of a special 3-UPU parallel platform manipulator is discussed in this paper. First, the instantaneous motions of the 3-UPU manipulator in four position and a special manipulator are studied by reciprocal screw theory. Then, the principal screws in one of four position are obtained. It is shown that the moving platform has five DOF (degrees of freedom) in the initial position or after a translation along the Z-axis; in the generic position, the mechanism only has three DOF, moreover the three DOF characteristics are difference in different position. The instantaneous kinematic characteristics of alike 3-UPU mechanisms are very different in different position and special structure. The results presented in this paper are important to the use of alike 3-UPU parallel manipulator and contribute to the mechanism theory.

Copyright © 2005 by ASME
Topics: Manipulators



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