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serial-parallel manipulator

Robotica (1)

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Analyses of velocity, acceleration, statics, and workspace of a 2(3-SPR) serial-parallel manipulator
Yi Lu, Bo Hu, Tao Sun
Journal:

Robotica / Volume 27 / Issue 4 / July 2009

Published online by Cambridge University Press:

01 July 2009, pp. 529-538
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The kinematics, statics, and workspace of a 2(3-SPR) serial-parallel manipulator (S-PM) are studied systematically in this paper. First, a 2(3-SPR) S-PM including an upper 3-SPR parallel manipulator (PM) and a lower 3-SPR PM is constructed, and the inverse/forward displacements, velocity, acceleration, and statics of the lower and upper 3-SPR PMs are studied, respectively. Second, the kinematics and statics of the lower and upper 3-SPR PMs are combined and the displacement, velocity, acceleration, and statics of a 2(3-SPR) S-PM are analyzed systematically. Third, a workspace of the 2(3-SPR) S-PM is constructed and analyzed. Finally, the analytic solved results are given and verified by the simulation mechanism.