Topology Analyses and Position Solution Based on Asymmetric and Fewer DOF Parallel Robots
By using the theory and method of topology structure design of parallel robotic mechanisms, the degrees of freedom (DOF) is analyzed based on 4-DOF(3T1R) asymmetric parallel robots in this paper. Then, the inverse and forward kinematics of the manipulator are calculated through establishment of constrained equations with analytical approach.
P. A. Liu and X. H. Shi, "Topology Analyses and Position Solution Based on Asymmetric and Fewer DOF Parallel Robots", Advanced Materials Research, Vols. 308-310, pp. 1252-1257, 2011