| contributor author | Hu, Bo | |
| contributor author | Shi, Dongsheng | |
| contributor author | Xie, Tengfei | |
| contributor author | Hu, Bibo | |
| contributor author | Ye, Nijia | |
| date accessioned | 2022-02-04T21:58:08Z | |
| date available | 2022-02-04T21:58:08Z | |
| date copyright | 7/17/2020 12:00:00 AM | |
| date issued | 2020 | |
| identifier issn | 1942-4302 | |
| identifier other | fe_142_10_101211.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4274621 | |
| description abstract | This paper derives the kinematically identical manipulators (KIMs) of the 2-RPU + UPR parallel manipulators (PMs) and performs a comparison study among them. Based on the principle for deriving KIMs, ten non-overconstrained and 12 overconstrained KIMs of the 2-RPU + UPR PMs are derived. The 2-RPU + UPR PM and its KIMs has identical kinematics but different constraints. On the basis of motion/force transmission indices, the optimal design of the 2-RPU + UPR PM and its KIMs is carried out and the optimal parameters are obtained. With the optimal parameters and the definition of constraint performance, their constraint performances are compared. The comparison study with the 2-RPU + UPR PM and its KIMs is helpful for obtaining the optimal architectures among them. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Kinematically Identical Manipulators Derivation for the 2-RPU + UPR Parallel Manipulator and Their Constraint Performance Comparison | |
| type | Journal Paper | |
| journal volume | 12 | |
| journal issue | 6 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4047540 | |
| journal fristpage | 061011-1 | |
| journal lastpage | 061011-16 | |
| page | 16 | |
| tree | Journal of Mechanisms and Robotics:;2020:;volume( 012 ):;issue: 006 | |
| contenttype | Fulltext | |
