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Mobility analysis and kinematic synthesis of a novel 4-DoF parallel manipulator

Published online by Cambridge University Press:  13 August 2014

Gang Dong ,
Tao Sun ,
Yimin Song ,
Hao Gao  and
Binbin Lian
Gang Dong
Affiliation:
Key Laboratory of Mechanism and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, P. R. China
Tao Sun*
Affiliation:
Key Laboratory of Mechanism and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, P. R. China
Yimin Song
Affiliation:
Key Laboratory of Mechanism and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, P. R. China
Hao Gao
Affiliation:
Key Laboratory of Mechanism and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, P. R. China
Binbin Lian
Affiliation:
Key Laboratory of Mechanism and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, P. R. China
*
*Corresponding author. E-mail: stao@tju.edu.cn
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Summary

This paper proposes a novel parallel manipulator with 1 translational and 3 rotational degrees of freedom, which may be designed as the docking equipment for large-scale component assemblage in the aircraft industry. First, the mobility and kinematic analysis of the novel manipulator is performed using the screw theory and the closed-loop vector method. To evaluate the kinematic performance of the manipulator, its workspace is calculated, and the dimensional homogeneous Jacobian matrix of this manipulator is deduced. Mainly based on a nonlinear programming approach, the kinematic dimensional synthesis is performed to optimise the dimensional parameters of this novel parallel manipulator in a prescribed workspace. The results of this paper may lay a solid foundation for the prototype design and manufacture of the novel parallel manipulator.

Keywords

Parallel manipulatorMobilityDimensional homogeneous Jacobian matrixDimensional synthesis
Type
Articles
Information
Robotica , Volume 34 , Issue 5: RAAD , May 2016 , pp. 1010 - 1025
Copyright
Copyright © Cambridge University Press 2014 

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