Title :
A Novel Four-DOF Parallel Manipulator Mechanism and Its Kinematics
Author :
Zhao, Tie Shi ; Li, Yan Wen ; Chen, Jiang ; Wang, Jia Chun
Author_Institution :
Coll. of Mech. Eng., Yanshan Univ., Qinhuangdao
Abstract :
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
Keywords :
manipulator kinematics; position control; NC positioning platforms; force sensors; inverse position kinematics; micropositional parallel manipulators; parallel machine tools; parallel manipulator mechanism; screw theory; Educational institutions; Fasteners; Kinematics; Manipulators; Mechanical engineering; Micromanipulators; Motion analysis; Parallel machines; Parallel robots; Performance analysis; kinematics; parallel mechanism; singularity; workspace;
Conference_Titel :
Robotics, Automation and Mechatronics, 2006 IEEE Conference on
Conference_Location :
Bangkok
Print_ISBN :
1-4244-0024-4
Electronic_ISBN :
1-4244-0025-2
DOI :
10.1109/RAMECH.2006.252672
