A novel (3T-1R) redundant parallel mechanism with large operational workspace and rotational capability


This paper presents a novel 4 dofs (3T-1R<sup>(1)</sup>) parallel redundant mechanism, with its complete study regarding inverse and direct geometric models (IGM and DGM), as well as singularity and workspace analysis. The robot is capable of performing a half-turn about the z axis (a complete turn would be theoretically possible if it were not for possible… (More)
DOI: 10.1109/IROS.2013.6696388


7 Figures and Tables