Title :
Kinematic Analysis of a Novel 4-DOFs Parallel Manipulator
Author :
Yuan, Jianfeng ; Zhang, Xianmin
Author_Institution :
Coll. of Mech. Eng., South China Univ. of Technol., Guangzhou
Abstract :
A novel 4 degrees-of-freedom (DOFs) parallel manipulator with four fixed-length PUU limbs is proposed. The mobility of this parallel manipulator is analyzed by means of screw theory. The forward and inverse kinematics problems are solved in closed-forms. The velocity equation of this new parallel manipulator is given. The singularity is studied in detail. The workspace for this manipulator is analyzed systematically. This parallel manipulator has the advantages of large tilting angle and large workspace along the rail. So, it is a suitable candidate for many industrial applications.
Keywords :
manipulator kinematics; 4-DOF parallel manipulator; fixed-length PUU limbs; forward kinematics problems; inverse kinematics problems; kinematic analysis; screw theory; velocity equation; Educational institutions; Equations; Fasteners; Kinematics; Manipulators; Mechanical engineering; Packaging machines; Parallel machines; Parallel robots; Rails; Kinematic analysis; Parallel manipulator; Screw theory;
Conference_Titel :
Information Acquisition, 2006 IEEE International Conference on
Conference_Location :
Shandong
Print_ISBN :
1-4244-0528-9
Electronic_ISBN :
1-4244-0529-7
DOI :
10.1109/ICIA.2006.305790
