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...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2011-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Subjects: | |
| Online Access: | http://www.intechopen.com/articles/show/title/kinematic_characteristics_of_3_upu_parallel_manipulator_in_singularity_and_its_application |