Abstract
A new four degrees-of-freedom (DOF) parallel manipulator that can produce 3-DOF translations and 1-DOF rotation (3T1R), has been proposed in this paper. It has two identical limbs connected to the moving platform through passive revolute joints, and each limb has two identical branches driven by a pair of base mounted collinear prismatic joints. Due to such a unique “4-2-1” kinematic structure, the 4-DOF parallel manipulator has the advantages of simple kinematics, large workspace, high speed, and high positioning accuracy. These advantages make it an appropriate candidate for high-speed and high-precision pick-and-place operations. To validate the proposed parallel manipulator design, mobility analysis is conducted based on the screw theory. Other critical design analysis issues, such as displacement, singularity, and workspace analyses, have been addressed in details.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
