DocumentCode
2799493
Title
The reachable workspace analysis of a kind of 4-DOF parallel mechanism based on constraints
Author
Hong-jun, Liu ; Yong-fa, Qin ; Ming-yang, Zhao
Author_Institution
Shenyang Inst. of Autom., Chinese Acad. of Sci., Liaoning, China
Volume
2
fYear
2003
fDate
8-13 Oct. 2003
Firstpage
799
Abstract
Aimed at a novel 4-DOF parallel manipulator, the paper brings forward a grid approach which is based on the inverse kinematics result to get its workspace. The paper analyses the kinematics of this kind of parallel manipulator, brings out the formula of the inverse kinematics, then programs, gives several figures of workspace with different parameters and then analyses it finally.
Keywords
manipulator kinematics; 4 DOF parallel manipulator; 4 DOF parallel mechanism; inverse kinematics; workspace analysis; Automation; Coordinate measuring machines; Couplings; Joining processes; Kinematics; Machining; Position measurement; Rotation measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on
Print_ISBN
0-7803-7925-X
Type
conf
DOI
10.1109/RISSP.2003.1285688
Filename
1285688
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