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Advances in Reconfigurable Mechanisms and Robots II pp 287–295Cite as

A Family of 2R1T Parallel Manipulators with Intersecting Rotational Axes

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Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 36))

Abstract

A family of 2R1T parallel manipulators (PMs) with intersecting rotational axes is proposed. The PMs of this family have identical kinematics although they are different in structure arrangement. The Jabobian matrices of the PMs of this family are established. The kinematic identical property of the PMs of this family is revealed based on analyzing their Jacobian. The common inverse and forward kinematics of the proposed PMs are derived in the closed form.

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Acknowledgments

The authors are grateful to the project (No. 51305382) supported by National Natural Science Foundation of China.

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Authors and Affiliations

  1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, 066004, Hebei, China

    Bo Hu & Zhen Huang

Authors
  1. Bo Hu
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  2. Zhen Huang
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Corresponding author

Correspondence to Bo Hu .

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Editors and Affiliations

  1. Beihang University, Beijing, China

    Xilun Ding

  2. Heriot-Watt University, Edinburgh, United Kingdom

    Xianwen Kong

  3. Kings College London, Strand, LONDON WC2R 2LS, United Kingdom

    Jian S. Dai

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Hu, B., Huang, Z. (2016). A Family of 2R1T Parallel Manipulators with Intersecting Rotational Axes. In: Ding, X., Kong, X., Dai, J. (eds) Advances in Reconfigurable Mechanisms and Robots II. Mechanisms and Machine Science, vol 36. Springer, Cham. https://doi.org/10.1007/978-3-319-23327-7_25

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  • DOI: https://doi.org/10.1007/978-3-319-23327-7_25

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-23326-0

  • Online ISBN: 978-3-319-23327-7

  • eBook Packages: EngineeringEngineering (R0)

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