ON THE WORKSPACE OF A NOVEL SPATIAL 3-DOF PARALLEL MANIPULATOR

Abstract

Abstract: A new spatial three degree-of-freedom, that are two degrees of translational freedom and one degree of orientational freedom, parallel manipulator is proposed. Closed-form solutions of the manipulator are developed for both the inverse and direct kinematics. And the workspace of the manipulator is analyzed systematically. The parallel manipulator studied here has wide application in the fields of industrial robots, simulators, micro-manipulators, and parallel machine tools.

Key words: Kinematics analysis, New mechanism, Parallel manipulator, Workspace

CLC Number:

TH112.1

Liu Xinjun;Wang Jinsong;Li Jianfen;Gao Feng. ON THE WORKSPACE OF A NOVEL SPATIAL 3-DOF PARALLEL MANIPULATOR[J]. , 2001, 37(10): 36-39.

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ON THE WORKSPACE OF A NOVEL SPATIAL 3-DOF PARALLEL MANIPULATOR

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