Kinematic Analysis of a Novel 4-DOFs Parallel Manipulator
A novel 4 degrees-of-freedom (DOFs) parallel manipulator with four fixed-length PUU limbs is proposed. The mobility of this parallel manipulator is analyzed by means of screw theory. The forward and inverse kinematics problems are solved in closed-forms. The velocity equation of this new parallel manipulator is given. The singularity is studied in detail. The workspace for this manipulator is analyzed systematically. This parallel manipulator has the advantages of large tilting angle and large workspace along the rail. So, it is a suitable candidate for many industrial applications.
Parallel manipulator. Screw theory. Kinematic analysis.
Jianfeng Yuan Xianmin Zhang
College of Mechanical Engineering South China University of Technology Guangzhou, Guangdong Province, China
国际会议
2006 IEEE International Conference on Information Acquisition
山东威海
英文
534-539
2006-08-20(万方平台首次上网日期,不代表论文的发表时间)