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Rotational Axes Analysis of the 2-RPU/SPR 2R1T Parallel Mechanism

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Advances on Theory and Practice of Robots and Manipulators

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 22))

Abstract

This paper presents a novel 2-RPU/SPR 2R1T parallel mechanism, which has one translational degree of freedom (DOF) and two rotational DOFs. The properties of the rotational axes of the mechanism are analyzed by using screw theory, and the results show that the 2-RPU/SPR mechanism has two rotational continuous axes. The position analysis of the 2-RPU/SPR mechanism is also carried out. The proposed 2R1T mechanism has very simple kinematic model, which reduces difficulties in calibrating kinematic parameters.

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Acknowledgments

This research was financially supported by the National Natural Science Foundation of China under Grant 51275439, and the Major State Basic Research Development Program of China (973 program) under Grant 2013CB733000.

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Authors and Affiliations

  1. Parallel Robot and Mechatronic System Laboratory, Yanshan University, Qinhuangdao, 066004, Hebei, People’s Republic of China

    Yundou Xu, Shasha Zhou, Jiantao Yao & Yongsheng Zhao

Authors
  1. Yundou Xu
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  2. Shasha Zhou
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  3. Jiantao Yao
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  4. Yongsheng Zhao
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Corresponding author

Correspondence to Yundou Xu .

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Editors and Affiliations

  1. Laboratory of Robotics & Mechatronics LARM, University of Cassino and South Latium, Cassino, Italy

    Marco Ceccarelli

  2. Mechanical Engineering Research Institute, RAS, Moscow, Russia

    Victor A. Glazunov

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© 2014 Springer International Publishing Switzerland

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Xu, Y., Zhou, S., Yao, J., Zhao, Y. (2014). Rotational Axes Analysis of the 2-RPU/SPR 2R1T Parallel Mechanism. In: Ceccarelli, M., Glazunov, V. (eds) Advances on Theory and Practice of Robots and Manipulators. Mechanisms and Machine Science, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-319-07058-2_13

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  • DOI: https://doi.org/10.1007/978-3-319-07058-2_13

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-07057-5

  • Online ISBN: 978-3-319-07058-2

  • eBook Packages: EngineeringEngineering (R0)

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