• Media type: E-Article
  • Title: Kinematics and Singularity Analyses of a 2-RPU&SPR Parallel Manipulator
  • Contributor: Fan, Jian Hui; Li, Bin; Zhao, Xin Hua
  • Published: Trans Tech Publications, Ltd., 2013
  • Published in: Applied Mechanics and Materials, 441 (2013), Seite 568-571
  • Language: Not determined
  • DOI: 10.4028/www.scientific.net/amm.441.568
  • ISSN: 1662-7482
  • Keywords: General Engineering
  • Origination:
  • Footnote:
  • Description: In this paper, kinematics and singularity of a 2-RPU&SPR parallel mechanism are analyzed by algebraic method. Firstly, the inverse kinematics of the parallel mechanism is derived. Secondly, the Jacobian matrix of the parallel mechanism is obtained and the singularity of the mechanism is analyzed. Finally, the correctness of singularity analysis of the mechanism is verified by numerical simulations.