Jaime GallardoAlvarado and Mario A. GarcíaMurillo and Md Nazrul Islam and Mohammad H. Abedinnasab (2016) A simple approach to solve the kinematics and dynamics of the 4UPS/PS (3R1T) parallel manipulator. Journal of Mechanical Science and Technology, 30 (5). pp. 23032309. ISSN 1738494X (Print) 19763824 (Online)

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Abstract
This work reports on the position, velocity and acceleration analyses of a fourdegreesoffreedom parallel manipulator, 4DoFPM for brevity, which generates Threerotationonetranslation (3R1T) motion. Nearly closedform solutions to solve the forward displacement analysis are easily obtained based on closure equations formulated upon linear combinations of the coordinates of three noncollinear points embedded in the moving platform. Then, the inputoutput equations of velocity and acceleration of the robot manipulator are systematically established by resorting to the theory of screws. To this end, the Klein form of the Lie algebra se(3) of the Euclidean group SE(3) is systematically applied to the velocity and reduced acceleration state in screw form of the moving platform cancelling the passive joint rates of the parallel manipulator. Numerical examples, which are confirmed by means of commercially available software, are provided to show the application of the method.
Item Type:  Article 

Keyword:  Parallel manipulator, Semiclosed form solution, Klein form, Lie product, Acceleration analysis, Screw theory 
Subjects:  T Technology > TJ Mechanical engineering and machinery 
Department:  FACULTY > Faculty of Engineering 
Depositing User:  MUNIRA BINTI MARASAN  
Date Deposited:  18 Feb 2018 19:56 
Last Modified:  18 Feb 2018 19:56 
URI:  https://eprints.ums.edu.my/id/eprint/18792 
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