DocumentCode
3233360
Title
A novel 4-DOF parallel manipulator and its kinematic modelling
Author
Wen-jia, Chen ; Ming-yang, Zhao ; Shu-hong, Chen ; Hong-guang, Wang ; Zhi-gang, Xu ; Li-jin, Fang
Author_Institution
Inst. of Autom., Acad. Sinica, Shenyang, China
Volume
4
fYear
2001
fDate
2001
Firstpage
3350
Abstract
In this paper, a novel four-degree-of-freedom (4-DOF) hybrid parallel platform manipulator is presented. The movable platform of the parallel manipulator can translate along two directions and rotate around two axes, respectively. The kinematics model is formulated, which describes the inverse kinematic transformation and forward kinematic transformation. A 5-axis parallel machine tool based on the 4-DOF parallel manipulator is presented.
Keywords
machining; manipulator kinematics; position control; 4-DOF parallel manipulator; inverse kinematics; kinematic modelling; machining; movable platform; position control; Automation; DC motors; Electrical equipment industry; Industrial control; Instruments; Kinematics; Machine tools; Metalworking machines; Parallel machines; Programmable logic arrays;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.933135
Filename
933135
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