Mobility Analysis of the 3-UPU Parallel Mechanism Assembled for a Pure Translational Motion

[+] Author and Article Information
Raffaele Di Gregorio

Department of Engineering, University of Ferrara, Via Saragat 1, 44100 Ferrara, Italyemail: rdigregorio@ing.unife.it

Vincenzo Parenti-Castelli

Department of Mechanical Engineering, DIEM University of Bologna, Via Risorgimento 2, 40136 Bologna, Italye-mail: vincenzo.parenticastelli@mail.ing.unibo.it

J. Mech. Des 124(2), 259-264 (May 16, 2002) (6 pages) doi:10.1115/1.1471530 History: Received February 01, 2000; Online May 16, 2002
Copyright © 2002 by ASME
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Grahic Jump Location
The 3-UPU parallel mechanism
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The i-th leg of the 3-UPU parallel mechanism
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Design parameters; (a) base, (b) platform
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Platform of the 3-UPU mechanism
Grahic Jump Location
Planar rotation singularity surface




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