Paper Title:
Kinematic and Singularity Analysis of a Novel 4-DOF Parallel Manipulator
  Abstract

This paper presents a novel 4-DOF (Degree of Freedom) parallel manipulator called 2-PSS&(2-PRR)R manipulator. Firstly, the architecture of this manipulator is described and the mobility is analyzed via screw theory. Secondly, the inverse kinematic analysis including position analysis and velocity analysis is performed. Finally, the Jacobian matrix is obtained through velocity analysis, and then three kinds of singularity configurations are observed in virtue of the Jacobian matrix. This paper lays the foundation for further research of this manipulator.

  Info
Periodical
Chapter
Chapter 3: Engineering Design Theory and Methodology
Edited by
Di Zheng, Yiqiang Wang, Yi-Min Deng, Aibing Yu and Weihua Li
Pages
685-688
DOI
10.4028/www.scientific.net/AMM.101-102.685
Citation
M. Guan, Y. M. Song, T. Sun, G. Dong, "Kinematic and Singularity Analysis of a Novel 4-DOF Parallel Manipulator", Applied Mechanics and Materials, Vols. 101-102, pp. 685-688, 2012
Online since
September 2011
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Da Chang Zhu, Yan Ping Feng
Abstract:A new approach of structure synthesis of 3-DoF compliant parallel manipulators with flexure hinge is proposed in this paper. Based on...
143
Authors: Wen Jia Chen, Yan Zhong He, Jiang Zhang
Abstract:In the past decades, a number of parallel manipulators have been extensively studied. However, most efforts are dedicated to six degrees of...
2168
Authors: Zhong Jie Chen, Qui Ju Zhang, Chun Jian Hua
Abstract:In this paper, the kinematic analysis on a 3-DOF Delta parallel mechanism was carried out and the relationship models between the end cell...
114
Authors: Hong Jian Yu, Bing Li, Yang Wang, Ying Hu
Abstract:In this paper a novel 4 Degree-of-Freedom (DOF) parallel mechanism with the configuration of 4PUS-1RPU is applied for a 5-axis Hybrid...
420
Authors: Hong Jun San, Yuan Ming Wang, Jian Xiong Liu
Chapter 10: Industrial Robotics
Abstract:In this paper, forward and inverse position solution are analyzed for a novel 2UPR/1SPR special 3-DOF parallel mechanism. The moving platform...
1573