Title :
Kinematic analysis for a T2R2 4-DOF parallel robot
Author :
Wan, Zhong ; Li, Yongjie ; Hu, Ying ; Zhang, Jianwei
Author_Institution :
Shenzhen Institutes of Adv. Technol., Chinese Acad. of Sci., Shenzhen, China
Abstract :
In this paper, a novel type of parallel robot with four degree of freedoms is presented and investigated, which expends the family of few DOFs parallel robots. The parallel robot has two rotation and two translation degree of freedoms. The aspects about its configuration and kinematics analysis are discussed firstly, and a comparison of its singularity, workspace and dexterity are discussed in details latter.
Keywords :
robot kinematics; T2R2 4-DOF parallel robot; kinematic analysis; rotation degree-of-freedom; translation degree-of-freedom; Fasteners; Joints; Kinematics; Leg; Parallel robots; Service robots;
Conference_Titel :
Mechatronics and Automation (ICMA), 2010 International Conference on
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-5140-1
Electronic_ISBN :
2152-7431
DOI :
10.1109/ICMA.2010.5587957
