Abstract
A new type of four degree of freedom (DOF) symmetric parallel mechanism (PM) with Schönflies motion is proposed based on the topological structure synthesis. The type synthesis process of the PM is carried out by using the theory of POC set. The new mechanism possesses the properties of folding characteristic, extensibility and large coverage of workspace in XY plane. The forward kinematics is solved by Sylvester’s dialytic elimination in Maple. This research has certain theoretical significance for the synthesis and analysis of the other PM.
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Acknowledgement
The authors would like to acknowledge the financial support of the national science foundation of China (NSFC) with grant number of 51475050, Shanghai Science and Technology Committee with grant number of 12510501100, the Natural Science Foundation of Shanghai City with grant number of 14ZR1422700, and the Technological In-novation Project of Shanghai University of Engineering Science (SUES) with grant number of E109031501012, and the Graduate student research innovation project of Shanghai University of Engineering Science with grant number of E109031501016.
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Qin, W., Hang, LB., Liu, AX., Shen, HP., Wang, Y., Yang, TL. (2016). Kinematics Analysis of a New Type 3T1R PM. In: Kubota, N., Kiguchi, K., Liu, H., Obo, T. (eds) Intelligent Robotics and Applications. ICIRA 2016. Lecture Notes in Computer Science(), vol 9834. Springer, Cham. https://doi.org/10.1007/978-3-319-43506-0_15
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DOI: https://doi.org/10.1007/978-3-319-43506-0_15
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