Kinematic analysis for a T2R2 4-DOF parallel robot

In this paper, a novel type of parallel robot with four degree of freedoms is presented and investigated, which expends the family of few DOFs parallel robots. The parallel robot has two rotation and two translation degree of freedoms. The aspects about its configuration and kinematics analysis are discussed firstly, and a comparison of its singularity, workspace and dexterity are discussed in details latter.

[1]  Huiping Shen,et al.  A novel 3-Dof three-translation parallel mechanism and displacement analysis , 2009, 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots.

[2]  Xiguang Huang,et al.  Forward Displacement Analysis of the 5SPS-1CCS Generalized Stewart Parallel Robot Mechanism Based on Hyper-Chaotic Methods , 2009, 2009 International Workshop on Chaos-Fractals Theories and Applications.

[3]  Byung-Ju Yi,et al.  Kinematic analysis and implementation of a spherical 3-degree-of-freedom parallel mechanism , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  Clément Gosselin,et al.  Workspace analysis and optimal design of a 3-leg 6-DOF parallel platform mechanism , 2003, IEEE Trans. Robotics Autom..

[6]  Zexiang Li,et al.  A Novel 3-DoF Purely Translational Parallel Mechanism , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[7]  Liquan Wang,et al.  Study on optimal design for two DOF parallel ankle joint mechanism of a biped robot , 2008, 2008 IEEE International Conference on Mechatronics and Automation.

[8]  Lei Sun,et al.  New Parallel Robot Mechanisms Based on Chain RPC, PRS and CPS , 2009, 2009 International Conference on Artificial Intelligence and Computational Intelligence.

[9]  Jiang Chen,et al.  A Novel Four-DOF Parallel Manipulator Mechanism and Its Kinematics , 2006, 2006 IEEE Conference on Robotics, Automation and Mechatronics.

[10]  François Pierrot,et al.  Optimal design of a 6-dof parallel measurement mechanism integrated in a 3-dof parallel machine-tool , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[11]  T. Arai,et al.  Workspace analysis of parallel mechanism with adjustable link parameters , 2005, ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005..

[12]  Shurong Ning,et al.  The performance analysis of parallel mechanism 4-RPR(RR) , 2008, 2008 IEEE International Conference on Automation and Logistics.

[13]  Min Tan,et al.  Kinematic analysis of a flexible six-DOF parallel mechanism , 2006, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).