Decoupling Analysis of a Four Degree-of-Freedoms Parallel Robot
A type of 4-PPPR parallel manipulator is presented. The kinematics model of this mechanism is founded and kinematics solutions of both direct and inverse are given in closed form by means of coordinate transformation. For convenience to analyze the same kind of mechanisms, a new concept of even-group decoupling is put forward from a more common sense. A study is made on the 4-PPPR parallel manipulator using this method and it proves to have excellent character of decoupling which is of great importance for its path planning and real control.
Helen Zhang, Gang Shen and David Jin
J. L. Gong et al., "Decoupling Analysis of a Four Degree-of-Freedoms Parallel Robot", Advanced Materials Research, Vols. 219-220, pp. 870-873, 2011