Synthesis and Analysis of 4-DOF Parallel Manipulator with Passive Subchain


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A new class of 4-DOF Parallel Manipulator (PM) with five supporting subchains is synthesized based on enumeration method. Targeting at 4PUS-1PPU PM, the inverse kinematics and dexterity analysis are developed, and the geometric parameters are determined.



Materials Science Forum (Volumes 532-533)

Edited by:

Chengyu Jiang, Geng Liu, Dinghua Zhang and Xipeng Xu




Y. Hu et al., "Synthesis and Analysis of 4-DOF Parallel Manipulator with Passive Subchain", Materials Science Forum, Vols. 532-533, pp. 677-680, 2006

Online since:

December 2006




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