Title :
Type synthesis of 5-DOF parallel manipulators
Author :
Li, Qinchuan ; Huang, Zhen
Author_Institution :
Robotics Res. Center, Yanshan Univ., Hebei, China
Abstract :
The number of 5-DOF parallel manipulators is fairly small and it has been believed for a long time that there are no symmetrical 5-DOF parallel manipulators with full-cycle mobility. In this paper, the type synthesis of 5-DOF parallel manipulators is performed systematically by the constraint-synthesis method. Novel 5-DOF symmetrical and asymmetrical parallel manipulators with full-cycle mobility are enumerated. Moreover, structural characteristics of the 5-DOF parallel manipulators are revealed.
Keywords :
constraint theory; geometry; manipulator kinematics; 5-DOF parallel manipulators; constraint-synthesis method; full-cycle mobility; structural characteristics; Costs; Fasteners; Inspection; Kinematics; Lungs; Manipulators; Manufacturing; Materials handling; Mobile robots; Parallel robots;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241756
