Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/14615
Title: Kinematics analysis of an offset 3-UPU translational parallel robotic manipulator
Authors: Ji, P 
Wu, H
Keywords: Kinematics
Parallel manipulator
Robotic manipulator
Issue Date: 2003
Source: Robotics and autonomous systems, 2003, v. 42, no. 2, p. 117-123 How to cite?
Journal: Robotics and Autonomous Systems 
Abstract: The parallel robotic manipulator has attracted many researchers' attention and it also has growing applications to different areas. This paper proposes a 3-UPU (universal-prismatic-universal) translational parallel robotic manipulator with an equal offset in its six universal joints, based on the zero offset 3-UPU parallel manipulator. The kinematics of the new manipulator is analyzed and its inverse and forward kinematics solutions are provided. The conclusion is that its forward kinematics has 16 solutions instead of two in the zero offset manipulator.
URI: http://hdl.handle.net/10397/14615
ISSN: 0921-8890
DOI: 10.1016/S0921-8890(02)00324-X
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