A Novel 2T2R 4-DOF Parallel Manipulator
Knowledge Acquisition and Modeling（2011）
Abstract
A novel four-degree-of-freedom (DOF) parallel manipulator (PM) with two-translations and two-rotations (2T2R) is presented. The manipulator has four limbs containing two adjacent RPU limbs and two adjacent SPS limbs, connecting the base to the moving platform. Using the constraint screw theory, the constraint and motion of the manipulator are analyzed, and furthermore the singular configuration is carefully discussed. The manipulator can be developed for the 4-axis parallel machine tool, the damping device, the damping device, the vibrating screen and so on.
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Key words
manipulators,2T2R 4-DOF parallel manipulator,4-axis parallel machine tool,RPU limbs,SPS limbs,constraint screw theory,damping device,four-degree-of-freedom parallel manipulator,singular configuration,two-translations-two-rotations,vibrating screen,Parallel manipulator,screw theory,singular configuration,
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