Kinematics and Simulation of a 6-Leg, 4-DOF Parallel Manipulator

Abstract

In the past decades, parallel manipulators have been found in many industrial applications and a number of interesting mechanical devices and design methods have been extensively studied. However, most efforts are dedicated to six degrees of freedom (DOF) or three-DOF manipulators. This paper presents a novel six-leg, four-DOF parallel platform manipulator with base mounted prismatic actuators. The movable platform of the manipulator can translate along two directions and rotate around two axes respectively (2T-2R). The kinematics model is formulated, which describes the inverse and forward kinematics transformation. The singularity analysis of this six-leg, four-DOF parallel manipulator is introduced.

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Cite this paper

@article{Chen2010KinematicsAS, title={Kinematics and Simulation of a 6-Leg, 4-DOF Parallel Manipulator}, author={Wenjia Chen and Jiang Zhang}, journal={2010 International Conference on Intelligent System Design and Engineering Application}, year={2010}, volume={1}, pages={903-906} }