Rotational Axes Analysis of the 2-RPU/SPR 2R1T Parallel Mechanism

机译：2-RPU / SPR 2R1T平行机构的旋转轴分析

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This paper presents a novel 2-RPU/SPR 2R1T parallel mechanism, which has one translational degree of freedom (DOF) and two rotational DOFs. The properties of the rotational axes of the mechanism are analyzed by using screw theory, and the results show that the 2-RPU/SPR mechanism has two rotational continuous axes. The position analysis of the 2-RPU/SPR mechanism is also carried out. The proposed 2R1T mechanism has very simple kinematic model, which reduces difficulties in calibrating kinematic parameters.

机译：本文提出了一种新颖的2-RPU / SPR 2R1T并联机构，具有一种平移自由度（DOF）和两个旋转DOF。通过使用螺杆理论分析机构的旋转轴的性质，结果表明，2-RPU / SPR机构具有两个旋转连续轴。还进行了2-RPU / SPR机制的位置分析。所提出的2R1T机制具有非常简单的运动模型，这减少了校准运动参数的困难。

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来源
《CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators》|2014年||共9页
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作者
Yundou Xu; Shasha Zhou; Jiantao Yao; Yongsheng Zhao;
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原文格式 PDF
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中图分类 TP24-53;
关键词
2R1T parallel mechanism; Screw theory; Continuous rotation axes; Position analysis;

机译：2R1T并联机构;螺丝理论;连续旋转轴;位置分析;

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机译：2-RPU / SPR 2R1T平行机构的旋转轴分析
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Rotational Axes Analysis of the 2-RPU/SPR 2R1T Parallel Mechanism

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