Title :
The reachable workspace analysis of a kind of 4-DOF parallel mechanism based on constraints
Author :
Hong-jun, Liu ; Yong-fa, Qin ; Ming-yang, Zhao
Author_Institution :
Shenyang Inst. of Autom., Chinese Acad. of Sci., Liaoning, China
Abstract :
Aimed at a novel 4-DOF parallel manipulator, the paper brings forward a grid approach which is based on the inverse kinematics result to get its workspace. The paper analyses the kinematics of this kind of parallel manipulator, brings out the formula of the inverse kinematics, then programs, gives several figures of workspace with different parameters and then analyses it finally.
Keywords :
manipulator kinematics; 4 DOF parallel manipulator; 4 DOF parallel mechanism; inverse kinematics; workspace analysis; Automation; Coordinate measuring machines; Couplings; Joining processes; Kinematics; Machining; Position measurement; Rotation measurement;
Conference_Titel :
Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on
Print_ISBN :
0-7803-7925-X
DOI :
10.1109/RISSP.2003.1285688
