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Mobility Analysis and Inverse Kinematics of a Novel 2R1T Parallel Manipulator

[+] Author Affiliations
Enrique Cuan-Urquizo, Ernesto Rodriguez-Leal

Tecnológico de Monterrey, Monterrey, Mexico

Jian S. Dai

King’s College London, University of London, London, UK

Paper No. DETC2011-48476, pp. 1051-1058; 8 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


This paper presents a novel parallel robot constructed with a three-limb CUP architecture. The mobility of the mechanism is obtained using screw theory, showing that the platform has three degrees of freedom, namely: (i) translation along the Z axis; and (ii) two rotations. The position analysis investigates the loop-closure equation resulting in a unique solution for the inverse kinematics problem and the identification of parasitic motions of the platform. The paper validates the analytical solution with a numerical example, where the results are compared with motion simulations of the manipulator using a commercially available software package.

Copyright © 2011 by ASME



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