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Mobility analysis and kinematic synthesis of a novel 4-DoF parallel manipulator
Tianjin University.
Tianjin Univeristy.
2016 (English)In: Robotica (Cambridge. Print), ISSN 0263-5747, E-ISSN 1469-8668Article in journal (Refereed) Published
Abstract [en]

This paper proposes a novel parallel manipulator with 1 translational and 3 rotational degrees of freedom, which may be designed as the docking equipment for large-scale component assemblage in the aircraft industry. First, the mobility and kinematic analysis of the novel manipulator is performed using the screw theory and the closed-loop vector method. To evaluate the kinematic performance of the manipulator, its workspace is calculated, and the dimensional homogeneous Jacobian matrix of this manipulator is deduced. Mainly based on a nonlinear programming approach, the kinematic dimensional synthesis is performed to optimise the dimensional parameters of this novel parallel manipulator in a prescribed workspace. The results of this paper may lay a solid foundation for the prototype design and manufacture of the novel parallel manipulator.

Place, publisher, year, edition, pages
2016.
Keywords [en]
Parallel manipulator; Mobility; Dimensional homogeneous Jacobian matrix; Dimensional synthesis
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-249525DOI: 10.1017/S0263574714002021ISI: 000374785500003Scopus ID: 2-s2.0-84905759409OAI: oai:DiVA.org:kth-249525DiVA, id: diva2:1304598
Note

QC 20190617

Available from: 2019-04-12 Created: 2019-04-12 Last updated: 2019-06-17Bibliographically approved

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Lian, Binbin
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