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

Oleh:

Yuefa, Fang ; Lung-Wen, Tsai

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 21 no. 9 (Sep. 2002), page 799-810.
Topik: parallel robots; structure synthesis; screw theory; singularity avoidance
Fulltext: 799.pdf (379.27KB)

Isi artikel

In this paper, a systematic approach is developed for the structural synthesis of a class of four-degrees-of-freedom (4-DoF) and 5-DoF overconstrained parallel manipulators with identical serial limbs. The theory of screws and reciprocal screws is employed for the analysis of the geometric conditions that must be met by the limbs of such parallel manipulators. Limb structures that can be used for constructing 4-DoF or 5-DoF parallel manipulators are enumerated according to the reciprocity of the twist and wrench systems. The assembly conditions of a parallel manipulator built by using identical C- or F-limbs are discussed. Several 4-DoF and 5-DoF parallel manipulators are sketched as examples.

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