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Analyzing kinematics and solving active/constrained forces of a 4-dof 3SPS+SP parallel manipulator

Published online by Cambridge University Press:  01 January 2009

Yi Lu  and
Bo Hu
Yi Lu*
Affiliation:
Robotics Research Center, College of Mechanical Engineering, Yanshan University Qinhuangdao, Hebei, 066004, P. R. CHINA
Bo Hu
Affiliation:
Robotics Research Center, College of Mechanical Engineering, Yanshan University Qinhuangdao, Hebei, 066004, P. R. CHINA
*
*Corresponding author. E-mail: luyi@ysu.edu.cn
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Summary

A novel 3SPS+SP parallel manipulator (PM) with 4-dof is proposed. Its kinematics and statics are analyzed systematically. The analytic formulae for solving the displacement, velocity, acceleration, workspace, active forces and constrained force are derived. The analytic results are verified by using a simulation mechanism of the 3SPS+SP PM.

Keywords

Parallel manipulatorKinematicsWorkspaceActive forceConstrained force
Type
Article
Information
Robotica , Volume 27 , Issue 1 , January 2009 , pp. 29 - 36
Copyright
Copyright © Cambridge University Press 2008

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