Abstract
By using the topological structure synthesis theory and method based on POC (Position and Orientation Characteristic) equations, a novel 4-DOF 3T1R parallel manipulator (PM) with low coupling degree, 2PaRSS, is presented. First, the modeling and numerical solutions for forward and inverse position of the PM is established. Then, the workspace and rotation capacity of the PM are analyzed based on inverse solutions. This work shows 2PaRSS has simple structure, larger workspace and rotation capacity comapered to H4, I4 etc.
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Acknowledgments
This research is sponsored by NSFC (No.51475050, 51375062) and Jiangsu Key Development Pro-ject (No.BE2015043) and Jiangsu Scientific and Technology Transformation Fund Project (No. BA2015098).
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Shen, H., Shao, G., Deng, J., Yang, Tl. (2018). A Novel 3T1R Parallel Manipulator 2PaRSS and Its Kinematics. In: Zeghloul, S., Romdhane, L., Laribi, M. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 50. Springer, Cham. https://doi.org/10.1007/978-3-319-60867-9_42
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DOI: https://doi.org/10.1007/978-3-319-60867-9_42
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