The assembly condition of universal pairs in the 3-UPU parallel mechanism determines the mechanism mobility. This paper uses reciprocal screw theory to study mobility analysis of the 3-UPU parallel mechanism under several different assembly conditions. The analysis and the method presented in this paper will be helpful in using the 3-UPU parallel mechanism and introduce new insights into the mobility analysis of parallel mechanisms.
- Design Engineering Division and Computers and Information in Engineering Division
Construction and Kinematic Properties of 3-UPU Parallel Mechanisms
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Huang, Z, & Li, QC. "Construction and Kinematic Properties of 3-UPU Parallel Mechanisms." Proceedings of the ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5: 27th Biennial Mechanisms and Robotics Conference. Montreal, Quebec, Canada. September 29–October 2, 2002. pp. 1027-1033. ASME. https://doi.org/10.1115/DETC2002/MECH-34321
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