Type Synthesis and Kinematic Analysis of a New Class Sch(o)n ies motion Parallel Manipulator
In this paper,a class of new spatial 4-DOF Sch ¨on ies motion parallel manipulator with four identical chains is presented.This class parallel mechanism is non-redundant,and has the most simple structure and is especially t for pick and place operations.The type synthesis and mobility analysis is described rst,some parallel manipulators are invented for the rst time.The inverse and forward kinematics problems for the manipulator are all described,the solution of inverse kinematics and the solution of forward kinematics are all sixteen.The velocity equation of the mechanism is given, and two kinds of singularities are discussed.The results show that the moving platform and the base must be in dissimilar dimension.The workspace of the manipulator is given at last.
Zhibin Li Yunjiang Lou Zexiang Li
Shenzhen Graduate School Harbin Institute of Technology Shenzhen,Guangdong,China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Cle
国际会议
深圳
英文
267-272
2011-06-06（万方平台首次上网日期，不代表论文的发表时间）