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A Novel 2T2R 4-DOF Parallel Manipulator

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4 Author(s)
Caixia Fan ; Dept. of Mech. & Precision Instrum. Eng., Xi'an Univ. of Technol., Xi'an, China ; Hongzhao Liu ; Gexia Yuan ; Yanbin Zhang

A novel four-degree-of-freedom (DOF) parallel manipulator (PM) with two-translations and two-rotations (2T2R) is presented. The manipulator has four limbs containing two adjacent RPU limbs and two adjacent SPS limbs, connecting the base to the moving platform. Using the constraint screw theory, the constraint and motion of the manipulator are analyzed, and furthermore the singular configuration is carefully discussed. The manipulator can be developed for the 4-axis parallel machine tool, the damping device, the damping device, the vibrating screen and so on.

Published in:

Knowledge Acquisition and Modeling (KAM), 2011 Fourth International Symposium on

Date of Conference:

8-9 Oct. 2011