Kinematic analysis of a 6-UPUR parallel robot by screw theory
Abstract
This work presents the kinematic analysis of position and velocity for a six degrees of freedom UPUR parallel robot. Forward and inverse kinematics are obtained from closure vectorial equations which are solved by numerical methods. Equations relating actuators velocities with mobile platform velocities are obtained by using screw theory, which allows skip the passive joints velocity from kinematic analysis. Validity of obtained equations is verified by comparing the numerical results with mechanism simulation carried out in SolidWorks.
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References
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Copyright (c) 2024 Hugo Javier Cortés-Ruiz, Manuel Arias-Montiel
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