Fang YueFa

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In this paper, the structural synthesis method based on the theory of screw for parallel manipulator is briefly reviewed. The platform singularity in the design configuration is mainly discussed. The constraints acted on the platform that may decide the property of platform are analyzed in view that they are linear dependent or not. According to the(More)
Based on screw theory, the relationship between motion screw system of limbs and constraint screw system of moving platform is analyzed, and the explicit expressions between constraint force screw of moving platform and motion screw of limbs are established. A method of structure synthesis for 5-DOF parallel manipulator is advanced. The conditions of(More)
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