Abstract
This paper describes the (2-RRU)-URR parallel mechanism, which performs rotational motion with two degrees of freedom (DOF) and translational motion with a single DOF. This mechanism consists of a base frame, moving platform, and three connecting chains. Since this mechanism is over-constrained, derivation of its DOF was done by considering the constraint condition of each connecting chain. One of the special structural features of this mechanism is the perpendicularity between the moving platform and URR chain, proving circular-like motion from the origin as the center. In addition, it has another rotational DOF of the moving platform. For a simple kinematic calculation, the mechanism was divided into two parts: the planar motion generator and the orientation generator, and equations for kinematic analysis were derived. In order to clarify the characteristics of the mechanism, workspace of the planar motion generator, rotational ability and sensitivity of the orientation generator were demonstrated by numerical examples and discussed.
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Choi, Wh., Takeda, Y. (2020). Kinematic Analysis of (2-RRU)-URR Parallel Mechanism Performing 2R1T Output Motion. In: Kuo, CH., Lin, PC., Essomba, T., Chen, GC. (eds) Robotics and Mechatronics. ISRM 2019. Mechanisms and Machine Science, vol 78. Springer, Cham. https://doi.org/10.1007/978-3-030-30036-4_10
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DOI: https://doi.org/10.1007/978-3-030-30036-4_10
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