A new spatial three-DoF parallel manipulator with high rotational capability
作者： X.-J. Liu , J. Kim
DOI: 10.1109/TMECH.2005.856219
关键词:
摘要: This paper concerns the proposal and analysis of a novel spatial parallel manipulator. The manipulator consists base plate, movable platform, three connecting legs. moving platform has degrees freedom (DoFs), which are two translational one degree rotational freedom, with respect to plate. inverse forward kinematics problems described in closed forms velocity equation new is given. Three kinds singularities presented. workspace for analyzed systematically. Especially, indices evaluate capability will be defined discussed detail. Due high performance, proposed wide application fields industrial robots, simulators, micromotion manipulators, kinematic machines.
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