Kinematic and Workspace Modelling of a 6-PUS Parallel Mechanism
Keyword(s):
This article presents the kinematic analysis of a six-degree-of-freedom six-legged parallel mechanism of the 6-PUS architecture. The inverse kinematic problem is recalled and the Jacobian matrices are derived. Then, an algorithm for the geometric determination of the workspace is presented, which yields a very fast and accurate description of the workspace of the mechanism. Singular boundaries and a transmission ratio index are then introduced and studied for a set of architectural parameters. The proposed analysis yields conceptual architectures whose properties can be adjusted to fit given applications.
1988 ◽
Vol 4
(5)
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pp. 561-565
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2005 ◽
Vol 20
(4)
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2005 ◽
Keyword(s):
Keyword(s):
2010 ◽
Vol 4
(4)
◽
pp. 364-371
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