Reconfiguration analysis of a 4-RUU parallel manipulator
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- 作者：Latifah Nurahmia ; latifah.nurahmi@irccyn.ec-nantes.fr" class="auth_mail" title="E-mail the corresponding author ; Sté ; phane Caroa ; stephane.caro@irccyn.ec-nantes.fr" class="auth_mail" title="E-mail the corresponding author ; Philippe Wengera ; philippe.wenger@irccyn.ec-nantes.fr" class="auth_mail" title="E-mail the corresponding author ; Josef Schadlbauerb ; josef.schadlbauer@uibk.ac.at" class="auth_mail" title="E-mail the corresponding author ; Manfred Hustyb ; manfred.husty@uibk.ac.at" class="auth_mail" title="E-mail the corresponding author
- 关键词：Parallel manipulators ; Operation modes ; Reconfigurability ; Schoenflies motions ; Primary decomposition
- 刊名：Mechanism and Machine Theory
- 出版年：2016
- 出版时间：February 2016
- 年：2016
- 卷：96
- 期：part_P2
- 页码：269-289
- 全文大小：2798 K
文摘
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The 4-RUU PM is a Schönflies motion generator with four identical limb structures and revolute actuators.
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Derivation of the constraint equations of the 4-RUU PM by using the Study kinematic mapping.
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Operation mode analysis of the 4-RUU PM by decomposing it into two iso-constrained 2-RUU PM.
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Analysis of singularities, self-motions, and operation mode changing of the 4-RUU PM and 2-RUU PM.