Title :
Parameter design and manufacture for the 4RRR parallel manipulator
Author :
Xian Huang ; Tiemin Li ; Boqiang Xu ; Jun Wu
Author_Institution :
Sch. of Med., Tsinghua Univ., Beijing, China
Abstract :
In order to overcome the drawbacks of 3RRR non-redundant parallel manipulators, a redundantly actuated 4RRR parallel manipulator is designed and manufactured. In this paper, the relationship of mechanism parameters, workspace and dexterity is examined. A procedure to design a 4RRR parallel manipulator is presented in detail and a prototype of the machine is manufactured, preparing for the further studies on kinematic and dynamic performance of 4RRR parallel manipulator.
Keywords :
dexterous manipulators; manipulator dynamics; manipulator kinematics; dexterity; manipulator dynamic performance; manipulator kinematic performance; mechanism parameters; parameter design; parameter manufacture; redundant actuated 4RRR parallel manipulator; workspace; Educational institutions; Jacobian matrices; Kinematics; Manipulator dynamics; Prototypes; Redundancy; 4RRR parallel manipulator; actuation redundancy; dexterity; workspace;
Conference_Titel :
Electronic and Mechanical Engineering and Information Technology (EMEIT), 2011 International Conference on
Conference_Location :
Harbin, Heilongjiang, China
Print_ISBN :
978-1-61284-087-1
DOI :
10.1109/EMEIT.2011.6023617
