Kinematic Analysis and Synthesis of a 3-URU Pure Rotational Parallel Mechanism with Respect to Singularity and Workspace

This paper concerns kinematics and dimensional synthesis of a three universal-revolute-universal (3-URU) pure rotational parallel mechanism. The mechanism is composed of a base, a platform and three symmetric limbs consisting of U-R-U joints. This mechanism is a spatial non-overconstrained mechanism...

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Bibliographic Details

Published in:	Journal of Advanced Mechanical Design, Systems, and Manufacturing
Main Authors:	Syamsul HUDA, Yukio TAKEDA
Format:	Article
Language:	English
Published:	The Japan Society of Mechanical Engineers 2007-03-01
Subjects:	robotics lower-dof parallel mechanism kinematics dimensional synthesis constraint singularity actuation singularity workspace
Online Access:	https://www.jstage.jst.go.jp/article/jamdsm/1/1/1_1_81/_pdf/-char/en