A New 2T-2R Hybrid Parallel Manipulator

Abstract:

Though computer technology has brought about virtual manufacturing to expedite design and analysis through simulation and visualization, machines remain essential, as ultimately products need to be made. There is a need for equipment providing more than three degrees of freedom (DOF) arranged in parallel and based on simpler arrangements than 6-DOF arrangements in application. This paper presents a new 4-DOF hybrid parallel platform manipulator with fixed-leg lengths and base mounted prismatic actuators. The movable platform of the manipulator can translate along two directions and rotate around two axes respectively (2T-2R). The kinematics model is formulated, which describes the inverse and forward kinematics transformation. It is very easy to develop a 5-axis NC machine-tool which is of large-workspace based on the 2T-2R, 4-DOF parallel mechanism presented in this paper.

• Periodical: Advanced Materials Research (Volumes 328-330)
• Pages: 1743-1746
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.328-330.1743
• Online since: September 2011
• Authors: Wen Jia Chen, Lan Lei Zhao
• Keywords: 2T-2R, 4-DOF, Hybrid Parallel Manipulator, Kinematics, Singularity

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