2006•Unpublished venueRequires access

Kinematic Analysis of a Novel 4-DOFs Parallel Manipulator

Jianfeng Yuan, Xianmin Zhang

Abstract

A novel 4 degrees-of-freedom (DOFs) parallel manipulator with four fixed-length PUU limbs is proposed. The mobility of this parallel manipulator is analyzed by means of screw theory. The forward and inverse kinematics problems are solved in closed-forms. The velocity equation of this new parallel manipulator is given. The singularity is studied in detail. The workspace for this manipulator is analyzed systematically. This parallel manipulator has the advantages of large tilting angle and large workspace along the rail. So, it is a suitable candidate for many industrial applications.

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Available abstract

Key concepts: Parallel manipulator, Workspace, Kinematics, Inverse kinematics, Kinematics equations, Screw theory, Singularity, Computer science