2006•Machine Design and ResearchRequires access

Analysis of Position Forward Kinematics of a Kind of 4-DOF Parallel Manipulator

Huang Zhen

Abstract

This paper presents a new kind of 4-RPTR parallel manipulator, which has four DOF of the three-dimensional translation and the revolution around Z spindle, the manipulator has good application prospect. The DOF of the manipulator was analyzed firstly, then the restrict-ive equation was established; calculating the position forward kinematics of the manipulator with continuation method, the numerical value solutions of specific position were given, and also the corresponding three-dimensional mechanical assembling sketch was drawn.

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Available abstract

Key concepts: Parallel manipulator, Kinematics, Position (finance), Manipulator (device), Sketch, Translation (biology), Forward kinematics, Control theory (sociology)