Kinematic Analysis of a Serial-Parallel Hybrid Mechanism and its Application to a Wheel-Legged Robot

Kinematic Analysis of a Serial-Parallel Hybrid Mechanism and its Application to a Wheel-Legged Robot

A three-DOF (degree-of-freedom) serial-parallel hybrid mechanism is proposed that consists of a 2-UPS+U component (UPS: universal-/prismatic-/spherical-joint chain and U: universal joint) and an R+RPS component (R: revolute joint and RPS: revolute-/prismatic-/spherical-joint chain). This mechanism c...

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Bibliographic Details
Main Authors: Jianye Niu, Hongbo Wang, Zhiwen Jiang, Li Chen, Jianjun Zhang, Yongfei Feng, Shijie Guo
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Serial-parallel hybrid mechanism
2-UPS+U mechanism
R+RPS mechanism
kinematics
wheel-legged robot
Online Access:https://ieeexplore.ieee.org/document/9115045/

Internet

https://ieeexplore.ieee.org/document/9115045/

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