Kinematics Analysis of a Parallel Robot with 3 DOF and 4 Segments in Pure Translation. | ||||
| MEJ- Mansoura Engineering Journal | ||||
| Article 13, Volume 31, Issue 2, June 2006, Page 102-110 PDF (279.75 K) | ||||
| Document Type: Research Studies | ||||
| DOI: 10.21608/bfemu.2020.129915 | ||||
 View on SCiNiTO | ||||
| Authors | ||||
| A. Cherfia* 1; A. Zaatri1; M. Giordano2 | ||||
| 1Mechanical Engineering Department Mentouri University, road Ain El Bey 25000 Constantine, Algéria | ||||
| 2LMECA ESIA-Savoie University BP 806 74016 ANNECY Cedex France | ||||
| Abstract | ||||
| In this paper we present the direct and inverse analysis of a geometrical model of an UPS manipulator with three degrees of freedom added to a PPP passive central segment. This structure provides a pure translation motion. We will also determine the relations between generalized and articular velocities by using the inverse Jacobian matrix, Further, we determine the reciprocal relations between cartesian and angular velocities of the end effector via articular velocities by direct re-inversion of the Jacobian matrix. This study aims of implementing the control of a parallel robot manipulator. A prototype of a parallel robot has been built up in our laboratory in order to validate the proposed models. | ||||
| Keywords | ||||
| direct geometrical model; inverse geometrical model; UPS manipulator; passive central segment; Jacobian matrix; parallel robot | ||||
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