| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 10419253 | Mechanism and Machine Theory | 2005 | 14 Pages |
Abstract
A novel 3-DOF parallel robot mechanism with three-translation is synthesized and analyzed according to the structural theory of parallel robotic mechanisms based on single-opened-chain limbs. First, motion output type and mobility analysis of the parallel mechanism are addressed. Second, the closed-form analytic solutions are developed for both forward and inverse kinematics. Then input-output de-coupling analysis is discussed. Finally, numerical solutions and computer simulations for forward kinematics of the parallel mechanism with given specific dimensions are demonstrated.
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Authors
Huiping Shen, Tingli Yang, Shaobin Tao, Anxin Liu, Lv-zhong Ma,