Kinematic Analysis of a Novel 3-CRS/PU Parallel Manipulator
In this research work, a novel parallel manipulator with high positioning and orienting rate is introduced. This mechanism has two rotational and one translational degree of freedom. Kinematics and Jacobian analysis are investigated. Moreover, workspace analysis and optimization has been performed b...
| Main Author: | |
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| Format: | Article |
| Language: | English |
| Published: |
Islamic Azad University-Isfahan (Khorasgan) Branch
2012-12-01
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| Series: | International Journal of Advanced Design and Manufacturing Technology |
| Online Access: | https://admt.isfahan.iau.ir/article_534814_af08f2a7f7600c19f873a7288902d5a7.pdf |
| _version_ | 1797657179251015680 |
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| author | Mir Amin Hosseini |
| author_facet | Mir Amin Hosseini |
| author_sort | Mir Amin Hosseini |
| collection | DOAJ |
| description | In this research work, a novel parallel manipulator with high positioning and orienting rate is introduced. This mechanism has two rotational and one translational degree of freedom. Kinematics and Jacobian analysis are investigated. Moreover, workspace analysis and optimization has been performed by using genetic algorithm toolbox in Matlab software. Because of decreasing moving elements, it is expected much more better dynamic performance with respect to other counterpart mechanisms with the same degrees of freedom. In addition, using couple of cylindrical and revolute joints increased mechanism ability to have more extended workspace. |
| first_indexed | 2024-03-11T17:40:43Z |
| format | Article |
| id | doaj.art-51202a3d14b1473a8268a4779a309720 |
| institution | Directory Open Access Journal |
| issn | 2252-0406 2383-4447 |
| language | English |
| last_indexed | 2024-03-11T17:40:43Z |
| publishDate | 2012-12-01 |
| publisher | Islamic Azad University-Isfahan (Khorasgan) Branch |
| record_format | Article |
| series | International Journal of Advanced Design and Manufacturing Technology |
| spelling | doaj.art-51202a3d14b1473a8268a4779a3097202023-10-18T09:44:53ZengIslamic Azad University-Isfahan (Khorasgan) BranchInternational Journal of Advanced Design and Manufacturing Technology2252-04062383-44472012-12-0155534814Kinematic Analysis of a Novel 3-CRS/PU Parallel ManipulatorMir Amin HosseiniIn this research work, a novel parallel manipulator with high positioning and orienting rate is introduced. This mechanism has two rotational and one translational degree of freedom. Kinematics and Jacobian analysis are investigated. Moreover, workspace analysis and optimization has been performed by using genetic algorithm toolbox in Matlab software. Because of decreasing moving elements, it is expected much more better dynamic performance with respect to other counterpart mechanisms with the same degrees of freedom. In addition, using couple of cylindrical and revolute joints increased mechanism ability to have more extended workspace.https://admt.isfahan.iau.ir/article_534814_af08f2a7f7600c19f873a7288902d5a7.pdf |
| spellingShingle | Mir Amin Hosseini Kinematic Analysis of a Novel 3-CRS/PU Parallel Manipulator International Journal of Advanced Design and Manufacturing Technology |
| title | Kinematic Analysis of a Novel 3-CRS/PU Parallel Manipulator |
| title_full | Kinematic Analysis of a Novel 3-CRS/PU Parallel Manipulator |
| title_fullStr | Kinematic Analysis of a Novel 3-CRS/PU Parallel Manipulator |
| title_full_unstemmed | Kinematic Analysis of a Novel 3-CRS/PU Parallel Manipulator |
| title_short | Kinematic Analysis of a Novel 3-CRS/PU Parallel Manipulator |
| title_sort | kinematic analysis of a novel 3 crs pu parallel manipulator |
| url | https://admt.isfahan.iau.ir/article_534814_af08f2a7f7600c19f873a7288902d5a7.pdf |
| work_keys_str_mv | AT miraminhosseini kinematicanalysisofanovel3crspuparallelmanipulator |