2009 | OriginalPaper | Buchkapitel
Inverse Kinematics and Motion Simulation of a 2-DOF Parallel Manipulator with 3-PUP Legs
verfasst von : Ernesto Rodriguez-Leal, Jian S. Dai, Gordon R. Pennock
Erschienen in: Computational Kinematics
Verlag: Springer Berlin Heidelberg
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This paper presents a position analysis of a novel parallel manipulator with three
${\underline P}UP$
legs. By investigating the loop-closure equation for the manipulator, the paper presents a closed-form solution of the inverse kinematics problem. The platform of the parallel mechanism under investigation has two independent degrees of freedom, namely, a translation and a rotation about a skew axis. The paper also shows that the platform is subjected to one parasitic motion, which is an additional translation. The paper validates the obtained closed-form equations with a numerical example. Finally, the results of this example are compared with the results of a kinematics simulation using a commercially available software package.