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A Novel Four-DOF Parallel Manipulator Mechanism and Its Kinematics
2006 / IEEE / 1-4244-0024-4
This item was taken from the IEEE Conference ' A Novel Four-DOF Parallel Manipulator Mechanism and Its Kinematics ' A novel 4-UPU parallel manipulator mechanism that can perform three-dimensional translations and rotation about Z axis is presented. The principle that the mechanism can perform the above motions is analyzed based on the screw theory, the mobility of the mechanism is calculated, and the rationality of the chosen input joints is discussed. The forward and inverse position kinematics solutions of the mechanism and corresponding numerical examples are given, the workspace and the singularity of the parallel mechanism are discussed. The mechanism having the advantages of simple symmetric structure and large stiffness can be applied to the developments of NC positioning platforms, parallel machine tools, four-dimensional force sensors and micro-positional parallel manipulators.
Inverse Position Kinematics
Nc Positioning Platforms
Parallel Machine Tools
Parallel Manipulator Mechanism
Micropositional Parallel Manipulators