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Motion planning and coupling analysis based on 3-RRR(4R) parallel mechanism

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Abstract

This paper presents the kinematics analysis of a 3-RRR(4R) parallel mechanism. A new approach of motion planning based on the planned trajectory is proposed and demonstrated on parallel mechanism 3-RRR(4R). Both forward and inverse kinematics relationships are derived. Based on the structure analysis and inverse kinematics analysis of the parallel mechanism, the movement law of the three input motors can be derived from the equations of the planned trajectory. The approach is verified by simulation results, which are consistent with the planned trajectory. Coupling analysis was performed for the output–input of the parallel mechanism and was significantly simplified by using the simulation software relative to the conventional mathematical method.

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Authors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 1037 Luoyu Road, Wuhan, 430074, P.R. China

    Peidong Wu & Changlin Wu

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  1. Peidong Wu
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  2. Changlin Wu
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Correspondence to Peidong Wu.

Additional information

The project was supported by ZJNSF(Y104351).

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Wu, P., Wu, C. Motion planning and coupling analysis based on 3-RRR(4R) parallel mechanism. Int J Mech Mater Des 4, 325–331 (2008). https://doi.org/10.1007/s10999-008-9076-0

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  • DOI: https://doi.org/10.1007/s10999-008-9076-0

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