Type synthesis of 4-DOF parallel manipulators

Type synthesis of 4-DOF parallel manipulators
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DOI：
10.1109/robot.2003.1241684
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发表时间：
2003-11
期刊：
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)
影响因子：
--
通讯作者：
Qinchuan Li;Zhen Huang
Qinchuan Li;Zhen Huang
中科院分区：
其他
文献类型：
--
作者：
Qinchuan Li;Zhen Huang

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长期以来，具有全周期运动能力的四自由度并联机器人数量很少。本文采用约束综合方法系统地进行了四自由度并联机构的类型综合。对具有全周期运动能力的新型四自由度对称和非对称并联机器人进行了辨识和列举。揭示了四自由度并联机构的结构特点。
The number of 4-DOF (degrees of freedom) parallel manipulators with full-cycle mobility has been small for a long time. In this paper, the type synthesis of 4-DOF parallel manipulators is performed systematically by the constraint-synthesis method. Novel 4-DOF symmetrical and asymmetrical parallel manipulators with full-cycle mobility are identified and enumerated. Moreover, structural characteristics of the 4-DOF parallel manipulators are revealed.