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