Abstract
The SNU 3-UPU parallel mechanism with multiple operation modes has aroused much interest in the past decade. There are many related researches including singularity analysis, kinematic sensitivity analysis, operation mode analysis et al. In this paper, using the screw theory and geometrical method, the constraint and mobility properties of the SNU 3-UPU parallel mechanism in the mixed mode combining both rotational and translational motions are analyzed. The geometric relations between the links and the platforms when the moving platform rotates from the initial position are studied in detail. It can be found that the mechanism has two rotational and one translational DOFs in the mixed operation mode.
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Acknowledgements
The work reported here is supported by National Natural Science Foundation of China (Grant No. 51305381) and Specialized Research Fund for the Doctoral Program of Higher Education of China (Grant No. 20131333120006).
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Chen, Z., Zhang, Y., Huang, K., Huang, Z. (2016). Constraint and Mobility Analysis of the SNU 3-UPU Parallel Mechanism in Mixed Mode. In: Ding, X., Kong, X., Dai, J. (eds) Advances in Reconfigurable Mechanisms and Robots II. Mechanisms and Machine Science, vol 36. Springer, Cham. https://doi.org/10.1007/978-3-319-23327-7_34
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DOI: https://doi.org/10.1007/978-3-319-23327-7_34
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