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.
Volume Subject Area:
Mechanisms and Robotics
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