Parameter Design and Manufacture for the 4RRR Parallel Manipulator

摘要：

In order to overcome the drawbacks of 3RRR nonredundant parallel manipulators, a redundantly actuated 4RRR parallel manipulator is designed and manufactured. In this paper, the relationship of mechanism parameters, workspace and dexterity is examined. A procedure to design a 4RRR parallel manipulator is presented in detail and a prototype of the machine is manufactured, preparing for the further studies on kinematic and dynamic performance of 4RRR parallel manipulator.

关键词： 4RRR parallel manipulator actuation redundancy workspace dexterity

作者: Xian Huang Tiemin Li Boqiang Xu Jun Wu

作者单位: School of Medicine Tsinghua University Beijing 100084, China Department of Precision Instrument and Mechanology Tsinghua University Beijing 100084, China

会议类型: 国际会议

会议名称: 2011 International Conference on Electronic & Mechanical Engineering and Information Technology(EMEIT 2011)(2011年机电工程与信息技术国际会议)

会议地点: 哈尔滨

会议语种:英文

页码: 2540-2543

在线出版日期: 2011-08-12（万方平台首次上网日期，不代表论文的发表时间）