Kinematic Characteristics of 3-UPU Parallel Manipulator in Singularity and Its Application
Abstract This paper focuses on the kinematic characteristics of the 3-UPU (universal-prismatic-universal) parallel manipulator in one of singular configurations. The motion of the moving platform is analyzed by changing the layout of the universal joints. A layout of universal joints in the singular...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2011-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/45691 |