文章基本信息

标题：A Comparison Study of Two 3-UPU Translational Parallel Manipulators
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作者：Bo Hu ; Yunfeng Yao ; Peiliang Wu 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
DOI：10.5772/53394
语种：English
出版社：SAGE Publications
摘要：A comparison study of two 3-UPU translational parallel manipulators (PMs) is investigated in this paper. The two 3-UPU PMs have identical pure translational degree of freedoms (DOFs) and an identical actuator arrangement, and thus have identical kinematics. But some differences between the two translational 3-UPU PMs impliedly exist. The two PMs differ in terms of singularity configuration, constrained forces/torques situations and stiffness. This paper focuses on discussing the differences between the two translational 3-UPU PMs. This study provides insights into PMs with identical kinematics.
关键词：Parallel Manipulator; Constrained Forces/Torques; Singularity; Stiffness