A simple approach to solve the kinematics and dynamics of the 4-UPS/PS (3R1T) parallel manipulator

• Main Authors: Jaime Gallardo-Alvarado, Mario A. García-Murillo, Md Nazrul Islam, Mohammad H. Abedinnasab
• Format: Article
• Language: English
• Published: Springer International Publishing 2016
• Subjects: TJ Mechanical engineering and machinery
• Online Access: https://eprints.ums.edu.my/id/eprint/18792/1/A%20simple%20approach%20to%20solve%20the%20kinematics%20and%20dynamics%20of%20the%204.pdf; https://eprints.ums.edu.my/id/eprint/18792/; http://doi.org/10.1007/s12206-016-0439-4

This work reports on the position, velocity and acceleration analyses of a four-degrees-of-freedom parallel manipulator, 4-DoF-PM for brevity, which generates Three-rotation-one-translation (3R1T) motion. Nearly closed-form solutions to solve the forward displacement analysis are easily obtained bas...