Abstract
This paper presents an innovative design for a parallel manipulator that can be applied to a flight simulator. The new parallel manipulator has four degrees of freedom, including three translations and one rotation about z-axis. The rotations about x and y axis are coupled with the moving pairs of its moving platform. The parallel manipulator can be considered as the combination of a modular component and a hyper-redundant mechanism since it consists of two Tripod mechanisms with the same size. The end-effector is the center of the spherical joint that connects the two moving platforms. Therefore, high torque capacity and high-speed precision motions can be obtained. Both inverse and forward kinematics problem are investigated. Finally, the kinematics simulation is also conducted.
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Acknowledgments
This work is supported by National Natural Science Foundation of China (Grant No. 51475035 and No. 51175029), Program for New Century Excellent Talents in University (Grant No. 12-0769), and China Postdoctoral Science Foundation (Grant No. 2014M550601)
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© 2016 Springer International Publishing Switzerland
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Huang, G., Zhang, D., Guo, S., Li, D. (2016). A Novel Parallel Mechanism Design Based on Tripod Components. In: Ding, X., Kong, X., Dai, J. (eds) Advances in Reconfigurable Mechanisms and Robots II. Mechanisms and Machine Science, vol 36. Springer, Cham. https://doi.org/10.1007/978-3-319-23327-7_26
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DOI: https://doi.org/10.1007/978-3-319-23327-7_26
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