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Analysis of kinematics/statics and workspace of a 2(SP+SPR+SPU) serial–parallel manipulator

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Abstract

The kinematics/statics and workspace of a 2(SP+SPR+SPU) serial–parallel manipulator are studied systematically. First, a 2(SP+SPR+SPU) manipulator including an upper and a lower SP+SPR+SPU parallel manipulators is constructed, and the inverse/forward displacements, velocity, acceleration and statics of the lower/upper parallel manipulators are studied, respectively. Second, the kinematics and statics of the lower/upper manipulators are combined and the displacement, velocity, acceleration, statics, and workspace of a 2(SP+SPR+SPU) manipulator are analyzed systematically. Third, the analytic solutions’ examples are given and verified by the simulation mechanism. This manipulator has some potential applications for the robot’s arm, leg, and twist, the serial–parallel machine tools, the sensor, the surgical manipulator, the tunnel borer, the barbette of warship, and the satellite surveillance platform.

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Authors and Affiliations

  1. Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, China

    Yi Lu & Bo Hu

  2. College of Foreign Studies, Yanshan University, Qinhuangdao, Hebei, 066004, China

    JianPing Yu

Authors
  1. Yi Lu
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  2. Bo Hu
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  3. JianPing Yu
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Correspondence to Yi Lu.

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Lu, Y., Hu, B. & Yu, J. Analysis of kinematics/statics and workspace of a 2(SP+SPR+SPU) serial–parallel manipulator. Multibody Syst Dyn 21, 361–374 (2009). https://doi.org/10.1007/s11044-009-9145-7

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  • DOI: https://doi.org/10.1007/s11044-009-9145-7

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