NOVEL 4-DOF HYBRID PARALLEL MECHANISM AND ITS KINEMATIC MODELING

›› 2002, Vol. 38 ›› Issue (1): 123-126.

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NOVEL 4-DOF HYBRID PARALLEL MECHANISM AND ITS KINEMATIC MODELING

Zhao Mingyang;Chen Wenjia;Wang Hongguang;Chen Shuhong;Fang Lijin;Xu Zhigang

Shenyang Institute of Automation, Chinese Academy of Sciences

Published:2002-01-15

Abstract

Abstract: A novel 4 degrees of freedom hybrid parallel platform manipulator is presented. The movable platform of the manipulator can translate along two directions respectively and rotate around two axes respectively. The kinematics model is formulated, which describes the inverse kinematics and forward kinematics. A 5-axis parallel machine tool is developed based on the 4-DOF parallel manipulator presented.

Key words: 4 degrees of freedom, Kinematics, Modeling, Parallel mechanism

CLC Number:

TH113

Zhao Mingyang;Chen Wenjia;Wang Hongguang;Chen Shuhong;Fang Lijin;Xu Zhigang. NOVEL 4-DOF HYBRID PARALLEL MECHANISM AND ITS KINEMATIC MODELING[J]. , 2002, 38(1): 123-126.

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NOVEL 4-DOF HYBRID PARALLEL MECHANISM AND ITS KINEMATIC MODELING

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