| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 10420045 | Mechanism and Machine Theory | 2005 | 7 Pages |
Abstract
A new 3-DOF translational parallel manipulator, named R-CUBE, is presented in this paper. This manipulator has decoupled motion in x, y, and z axes, and employs only revolute joints. The structure and kinematics of the manipulator are studied, which shows there exist rotational redundant constraints to the moving platform. A modified structure is also introduced to avoid the redundant constraints. The mechanism singularity is examined.
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Industrial and Manufacturing Engineering
Authors
Weimin Li, Feng Gao, Jianjun Zhang,