{"title":"Kinematic Performance Analyses of a Symmetrical 4-URU Parallel Mechanism","authors":"Qiangqiang Zhang, Yong-xiu Xu, Fei Dong, Yan Wang","doi":"10.1145/3366194.3366224","DOIUrl":null,"url":null,"abstract":"After verifying the degrees of freedom (DOF) of the symmetrical 4-URU parallel mechanism based on the screw theory, the forward and inverse position models of the mechanism are solved. The workspace is then obtained by the boundary search algorithm. The singularity of the mechanism is solved. The above analyses and results can provide references for mechanism mechanics analysis, structure design and prototype development.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1145/3366194.3366224","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
After verifying the degrees of freedom (DOF) of the symmetrical 4-URU parallel mechanism based on the screw theory, the forward and inverse position models of the mechanism are solved. The workspace is then obtained by the boundary search algorithm. The singularity of the mechanism is solved. The above analyses and results can provide references for mechanism mechanics analysis, structure design and prototype development.
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