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Direct and Inverse Position Kinematicsof 3-UPS Parallel Manipulators | ||
| Journal of Engineering and Sustainable Development | ||
| Article 1, Volume 12, Issue 2, 2008, Pages 84-100 | ||
| Author | ||
| Mazin Ismail Jabar | ||
| Abstract | ||
| In this paper, the equations for the inverse and direct kinematics problems of a 3-UPS spatial parallel mechanism (universal-prismatic-spherical) of six degrees of freedom with two actuated joints and four passive joints in each of three parallel branches have been studied.The number of solutions of the inverse kinematics problem is shown to be not more than 64, and the solution of the direct kinematics problem has been shown to reducible to a 8th order polynomial. This implies that for a given set of actuated angles, this 3-UPS parallel mechanism can be assembled in at most 8 different configurations. Further numerical computations were performed to check the algebra and numerical examples were solved to demonstrate the procedure | ||
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