Kinematics Analysis of 3-RCU 3D Model Parallel Robot

Zihao Yan; Hongchang Sun; Chunwei Wu; Minggao Shen; Xuanhan Zhang; Yule Li

doi:10.54691/76dkas16

Authors

Zihao Yan
Hongchang Sun
Chunwei Wu
Minggao Shen
Xuanhan Zhang
Yule Li

DOI:

https://doi.org/10.54691/76dkas16

Keywords:

3-RCU 3D Model; Position and Orientation Analysis; Parallel Robot.

Abstract

This study focuses on the 3-RCU parallel robot as the support mechanism. First, the configuration design of the 3-RCU parallel mechanism is completed, and its degree of freedom (3, including z-axis translation and rotation around x and y axes) is calculated using the spatial mechanism degree of freedom formula, followed by the construction of the mechanism's kinematic model. Through accurate dynamic modeling, the research captures the nonlinear variation of support interface stiffness, providing key parameters for the subsequent design of parallel mechanisms and laying the theoretical foundation for constructing time-varying dynamic models.

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References

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