Title :
A novel 4-DOF parallel manipulator and its kinematic modelling
Author :
Wen-jia, Chen ; Ming-yang, Zhao ; Shu-hong, Chen ; Hong-guang, Wang ; Zhi-gang, Xu ; Li-jin, Fang
Author_Institution :
Inst. of Autom., Acad. Sinica, Shenyang, China
Abstract :
In this paper, a novel four-degree-of-freedom (4-DOF) hybrid parallel platform manipulator is presented. The movable platform of the parallel manipulator can translate along two directions and rotate around two axes, respectively. The kinematics model is formulated, which describes the inverse kinematic transformation and forward kinematic transformation. A 5-axis parallel machine tool based on the 4-DOF parallel manipulator is presented.
Keywords :
machining; manipulator kinematics; position control; 4-DOF parallel manipulator; inverse kinematics; kinematic modelling; machining; movable platform; position control; Automation; DC motors; Electrical equipment industry; Industrial control; Instruments; Kinematics; Machine tools; Metalworking machines; Parallel machines; Programmable logic arrays;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933135
