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

Abstract:

Article Preview

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.

Info:

Periodical:

Materials Science Forum (Volumes 532-533)

Edited by:

Chengyu Jiang, Geng Liu, Dinghua Zhang and Xipeng Xu

Pages:

677-680

Citation:

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

Export:

Price:

$38.00

[1] Y.F. Fang and L.W. Tsai: The International of Robotics Research, Vol. 21 (2002) No. 9, pp.799-810.

[2] L.W. Tsai: 10th World Congress on the Theory of Machine and Mechanisms, Vol. 3 (1999), pp.1121-1126.

[3] A.J. Sameer: A Comparative Study of Two Classes of 3-DOF Parallel Manipulator (PhD Thesis, University of Maryland 2002).

[4] D. Tesar and G. Matthew: The Dynamic Synthesis, Analysis, and Design of Modeled Cam Systems (Lexington Books, D.C. Heath & Company 1976).