Kinematic Characteristics of 3-UPU Parallel Manipulator in Singularity and Its Application

This paper focuses on the kinematic characteristics of the 3‐UPU (universal‐prismatic‐ universal) parallel manipulator in one of singular configurations. The motion of the moving platform is analyzed by changing the layout of the universal joints. A layout of universal...

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Bibliographic Details
Main Authors: Peng Binbin, Li Zengming, Wu Kai, Sun Yu
Format: Article
Published: SAGE Publishing 2011-09-01
Series:International Journal of Advanced Robotic Systems
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