Liu Xinjun

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Closed-form solutions were developed to optimize kinematics design of a 2-degree-of-freedom (2DOF) planar parallel manipulator. The optimum design based on the workspace was presented. Meanwhile, a global, comprehensive conditioning index was introduced to evaluate the kinematic designs. The optimal parallel manipulator is incorporated into a 5-DOF hybrid(More)
This paper addresses a sliding mode control scheme based on weighted integral gain reaching for a novel 3-DOF redundantly actuated parallel mechanism to implement accuracy motion tracking control. The sliding control scheme is designed with consideration of varying uncertain parameters and external disturbances to guarantee system robustness. Using Lyapunov(More)
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