Title :
Type synthesis of 4-DOF parallel manipulators
Author :
Li, Qinchuan ; Huang, Zhen
Author_Institution :
Robotics Res. Center, Yanshan Univ., Hebei, China
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;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241684
