DocumentCode
2236999
Title
Type synthesis of 5-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
1203
Abstract
The number of 5-DOF parallel manipulators is fairly small and it has been believed for a long time that there are no symmetrical 5-DOF parallel manipulators with full-cycle mobility. In this paper, the type synthesis of 5-DOF parallel manipulators is performed systematically by the constraint-synthesis method. Novel 5-DOF symmetrical and asymmetrical parallel manipulators with full-cycle mobility are enumerated. Moreover, structural characteristics of the 5-DOF parallel manipulators are revealed.
Keywords
constraint theory; geometry; manipulator kinematics; 5-DOF parallel manipulators; constraint-synthesis method; full-cycle mobility; structural characteristics; Costs; Fasteners; Inspection; Kinematics; Lungs; 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.2003.1241756
Filename
1241756
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