2000•Optics and Precision EngineeringRequires access
A novel four DOF mixed platform mechanism and its position analysis
Zhao Tie
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Abstract
In order to enrich deficient DOF parallel mechanism models, a novel model of a 4 DOF plateform manipulator is presented. The degree of freedom and the characteristics of the mechanism model are discussed firstly. The solutions are developed for both the inverse and forward kinematics, which are very easy. Some numerical examples for the position kinematics are presented finally.