HANA: a novel spatial parallel manipulator with one rotational and two translational degrees of freedom

@article{Liu2005HANAAN,
  title={HANA: a novel spatial parallel manipulator with one rotational and two translational degrees of freedom},
  author={Xin-Jun Liu and Xiaoqiang Tang and Jinsong Wang},
  journal={Robotica},
  year={2005},
  volume={23},
  pages={257-270}
}
This paper concerns the proposal and analysis of HANA, a novel spatial parallel manipulator with over constraint. The parallel manipulator consists of a base plate, a movable platform, and three connecting legs. The moving platform has three degrees of freedom (DoFs), which are two degrees of translational freedom and one degree of rotational freedom, with respect to the base plate. The new parallel manipulator is very interesting for the reason of a lack of singularity in its workspace, single… CONTINUE READING
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