Analyzing kinematics and solving active/constrained forces of a 4-dof 3SPS+SP parallel manipulator-Reference-Cited by-同舟云学术

Analyzing kinematics and solving active/constrained forces of a 4-dof 3SPS+SP parallel manipulator

Published:2009-01 Issue:1 Volume:27 Page:29-36
ISSN:0263-5747
Container-title:Robotica
language:en
Short-container-title:Robotica

Author:

Lu Yi,Hu Bo

Abstract

SUMMARYA novel 3SPS+SP parallel manipulator (PM) with 4-dof is proposed. Its kinematics and statics are analyzed systematically. The analytic formulae for solving the displacement, velocity, acceleration, workspace, active forces and constrained force are derived. The analytic results are verified by using a simulation mechanism of the 3SPS+SP PM.

Publisher

Cambridge University Press (CUP)

Subject

Computer Science Applications,General Mathematics,Software,Control and Systems Engineering

Reference27 articles.

1. Static balancing of parallel robots

2. Using CAD Variation Geometry for Solving Velocity and Acceleration of Parallel Manipulators With 3-, 4-, 5-Linearly Driving Limbs

3. Fully Isotropic Four-Degrees-of-Freedom Parallel Mechanisms for Schoenflies Motion

4. Kinetostatic Modeling of N-DOF Parallel Mechanisms With a Passive Constraining Leg and Prismatic Actuators

5. Structure Synthesis of a Class of 4-DoF and 5-DoF Parallel Manipulators with Identical Limb Structures

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