DocumentCode
2235353
Title
Type synthesis of 4-DOF parallel manipulators
Author
Li, Qinchuan ; Huang, Zhen
Author_Institution
Robotics Res. Center, Yanshan Univ., Hebei, China
Volume
1
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
755
Abstract
The number of 4-DOF (degrees of freedom) parallel manipulators with full-cycle mobility has been small for a long time. In this paper, the type synthesis of 4-DOF parallel manipulators is performed systematically by the constraint-synthesis method. Novel 4-DOF symmetrical and asymmetrical parallel manipulators with full-cycle mobility are identified and enumerated. Moreover, structural characteristics of the 4-DOF parallel manipulators are revealed.
Keywords
constraint theory; manipulators; 4-DOF asymmetrical parallel manipulators; 4-DOF symmetrical parallel manipulators; constrained-synthesis method; full-cycle mobility; systematic type synthesis; Costs; Fasteners; Inspection; Kinematics; Manipulators; Manufacturing; Materials handling; Mobile robots; Parallel robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241684
Filename
1241684
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