0

Full Content is available to subscribers

Subscribe/Learn More  >

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
doi:10.1115/DETC2011-48476
From:
  • 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

abstract

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

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In