Type synthesis principle of minor-mobility parallel manipulators

  • Zhen Huang
  • Li Qinchuan


This paper originally presents a systematic general type synthesis principle of minor-mobility parallel manipulators. Based on the properties and geometrical conditions of structure constraint of minor-mobility parallel manipulators, this principle will be a cornerstone in solving the problem of type synthesis of minor-mobility parallel manipulators. Many mechanisms have been synthesized by this principle, which illustrated the validity and universality of this principle.


parallel manipulator type synthesis design theory 


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Copyright information

© Science in China Press 2002

Authors and Affiliations

  • Zhen Huang
    • 1
  • Li Qinchuan
    • 1
  1. 1.Robotics Research CenterYanshan UniversityQinhuangdaoChina

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