Volume 12, Issue 4 (2012)                   Modares Mechanical Engineering 2012, 12(4): 105-119 | Back to browse issues page

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Varshovi-Jaghargh P, Naderi D, Tale-Masouleh M. Forward kinematic problem of two 4-RRUR with different geometric structures and one 4-RUU parallel robots. Modares Mechanical Engineering. 2012; 12 (4) :105-119
URL: http://mme.modares.ac.ir/article-15-9852-en.html
1- Bu Ali Sina Univ.
2- Assistant Prof. of Mech. Eng., Bu Ali Sina Univ.
3- Assistant Prof. of Mech. Eng., Modern Science of Technology faculty, Tehran Univ.
Abstract:   (4021 Views)
In this paper, the forward kinematic of the special cases of 4- R" R' R' R" R", 4- R" R" R" R' R' and 4- R" R" R' R' R" parallel mechanisms that respectively lead to two 4- R R U R with different geometric structures and one 4- R U U spatial 4-DOF parallel robots has been studied. They are originated from the type synthesis of 4-DOF parallel mechanisms with motion patterns of 3 T1R. Each of them is composed of four kinematic chains and each chain consists of five revolute joints. The directions of revolute joints have been different with each others that create three different geometrical structures. The forward kinematic problem is done in three dimensional Euclidean space and finally, a univariate mathematical expression of degree 344, 462 and 8 is indicated the forward kinematic problem of each parallel robot. Also, the results are compared with simulations.
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Article Type: Research Article | Subject: robatic
Received: 2012/02/21 | Accepted: 2012/06/17 | Published: 2012/10/1

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