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129915

Kinematics Analysis of a Parallel Robot with 3 DOF and 4 Segments in Pure Translation.

Article

Last updated: 22 Jan 2023

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Mechanical Power Engineering

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. 

DOI

10.21608/bfemu.2020.129915

Keywords

direct geometrical model, inverse geometrical model, UPS manipulator, passive central segment, Jacobian matrix, parallel robot

Authors

First Name

A.

Last Name

Cherfia

MiddleName

-

Affiliation

Mechanical Engineering Department Mentouri University, road Ain El Bey 25000 Constantine, Algéria

Email

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City

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Orcid

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First Name

A.

Last Name

Zaatri

MiddleName

-

Affiliation

Mechanical Engineering Department Mentouri University, road Ain El Bey 25000 Constantine, Algéria

Email

-

City

-

Orcid

-

First Name

M.

Last Name

Giordano

MiddleName

-

Affiliation

LMECA ESIA-Savoie University BP 806 74016 ANNECY Cedex France

Email

-

City

-

Orcid

-

Volume

31

Article Issue

2

Related Issue

19223

Issue Date

2006-06-01

Receive Date

2006-04-11

Publish Date

2020-12-15

Page Start

102

Page End

110

Print ISSN

1110-0923

Online ISSN

2735-4202

Article File

BFEMU_Volume 31_Issue 2_Pages 102-110.pdf

PDF . 286.5kB

Link

https://bfemu.journals.ekb.eg/article_129915.html

Detail API

https://bfemu.journals.ekb.eg/service?article_code=129915

Order

13

Type

Research Studies

Type Code

1,205

Publication Type

Journal

Publication Title

MEJ. Mansoura Engineering Journal

Publication Link

https://bfemu.journals.ekb.eg/

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Article

Created At

22 Jan 2023