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  • 标题:A Comparison Study of Two 3-UPU Translational Parallel Manipulators
  • 本地全文:下载
  • 作者:Bo Hu ; Yunfeng Yao ; Peiliang Wu
  • 期刊名称:International Journal of Advanced Robotic Systems
  • 印刷版ISSN:1729-8806
  • 电子版ISSN:1729-8814
  • 出版年度:2013
  • 卷号:10
  • DOI:10.5772/53394
  • 语种:English
  • 出版社:SAGE Publications
  • 摘要:A comparison study of two 3-UPU translational parallel manipulators (PMs) is investigated in this paper. The two 3-UPU PMs have identical pure translational degree of freedoms (DOFs) and an identical actuator arrangement, and thus have identical kinematics. But some differences between the two translational 3-UPU PMs impliedly exist. The two PMs differ in terms of singularity configuration, constrained forces/torques situations and stiffness. This paper focuses on discussing the differences between the two translational 3-UPU PMs. This study provides insights into PMs with identical kinematics.
  • 关键词:Parallel Manipulator; Constrained Forces/Torques; Singularity; Stiffness
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