Analyses of kinematics, statics, and workspace of a 3-RRPRR parallel manipulator and its three isomeric mechanisms
作者： B Hu , Y Lu
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摘要: A novel 3-RRPRR parallel manipulator with three pure translational movements and a relative larger workspace is proposed. Its isomeric mechanisms 3-RR PU, 3-R PRU, 3-U PU are constructed by varying dimensions of some links. Their common kinematic characteristics, workspace, singularity analysed, the active force constrained torque solved. First, simulation mechanism PRR created, its kinematics, singularity, analysed using an analytical approach computer-aided design (CAD) variation geometry approach. Second, formulae for solving displacement, velocity, acceleration four manipulators derived. Third, forces torques The analytic-solved results verified their mechanisms.
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