Kinematics of a 4-DOF Bipod Parallel Grinder
In this paper, a novel bipod parallel grinder with four controlled degrees of freedom is introduced. The moving platform of this 2-leg parallel grinder can always keep moving in horizontal plane by means of four-parallelogram mechanism (Π joints). The closed-form solutions of forward and inverse kinematics are derived.
Guangqi Cai, Xipeng Xu and Renke Kang
P. Zou and J. Angeles, "Kinematics of a 4-DOF Bipod Parallel Grinder", Key Engineering Materials, Vols. 304-305, pp. 431-435, 2006