Modal Kinematic Analysis of a Parallel Kinematic Robot with Low-Stiffness Transmissions

Stiffness analysis for a 3-PUU parallel kinematic machine

This paper presents the stiffness characteristics of a three-prismatic-universal–universal (3-PUU) translational parallel kinematic machine (PKM). The stiffness matrix is derived intuitively based upon an alternative approach considering actuations and constraints, and the compliances subject to both actuators and legs are involved in the stiffness model. The stiffness performance of the manipu...

On the Stiffness Analysis and Elastodynamics of Parallel Kinematic Machines

Kinematic Mapping and Forward Kinematic Problem of a 5-DOF (3T2R) Parallel Mechanism with Identical Limb Structures

The main objective of this paper is to study the Euclidean displacement of a 5-DOF parallel mechanism performing three translation and two independent rotations with identical limb structures-recently revealed by performing the type synthesis-in a higher dimensional projective space, rather than relying on classical recipes, such as Cartesian coordinates and Euler angles. In this paper, Study's...

A Hybrid Neural Network Approach for Kinematic Modeling of a Novel 6-UPS Parallel Human-Like Mastication Robot

Introduction we aimed to introduce a 6-universal-prismatic-spherical (UPS) parallel mechanism for the human jaw motion and theoretically evaluate its kinematic problem. We proposed a strategy to provide a fast and accurate solution to the kinematic problem. The proposed strategy could accelerate the process of solution-finding for the direct kinematic problem by reducing the number of required ...

Kinematic and Dynamic Analysis of 6-UPS Parallel Robot

ABSTRACT: Kinematics and dynamics analysis of a 6-DOF parallel robot is performed. The mechanism of this parallel robot is composed of a moving platform and a static platform, the platform are linked by 6-UPS branched chains. The position and pose of the robot moving platform are totally described by 6 variables, including 3 displacement and 3 angles of a reference point on the platform. Firstl...