Kinematics analysis of a four degree-of-freedom parallel manipulator

Chao Zhang, Bin Li, Xinhua Zhao, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

1 Citation (Scopus)

Abstract

In this paper, a 2-RPU&2-SPS parallel mechanism is studied. Firstly, the number and property of degrees of freedom of the mechanism are confirmed base on the screw theory, this mechanism can realize two rotational and two translational movement. Secondly, the position analyses are invested. For the inverse position analysis, the only expressions are obtained in an explicit form, and the forward position problem is solved by calculating a set of non-linear equation system. Then, the singularity analyses of the mechanism are acquired by Jacobian matrix of the parallel manipulator. Finally, the kinematic transmission performance analyses of the mechanism have been analyzed by defining transmission efficiency coefficient between limbs. This work will provide the theoretical basis for prototype development and application of the mechanism.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1731-1736
Number of pages6
ISBN (Electronic)9781538637418
DOIs
Publication statusPublished - 23 Mar 2018
Externally publishedYes
Event2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China
Duration: 5 Dec 20178 Dec 2017

Publication series

Name2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Volume2018-January

Conference

Conference2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Country/TerritoryChina
CityMacau
Period5/12/178/12/17

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization
  • Modelling and Simulation

Cite this