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A 2T-2R, 4-DOF Parallel Manipulator

[+] Author Affiliations
Wen-jia Chen, Ming-yang Zhao, Yong-fa Qin

Chinese Academy of Sciences, Shenyang, P. R. China

Ji-ping Zhou

Yangzhou University, Yangzhou, P. R. China

Paper No. DETC2002/MECH-34303, pp. 881-885; 5 pages
  • ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 27th Biennial Mechanisms and Robotics Conference
  • Montreal, Quebec, Canada, September 29–October 2, 2002
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 0-7918-3625-3 | eISBN: 0-7918-3603-7
  • Copyright © 2002 by ASME


From the first ideas of parallel manipulator proposed by Gough and Stewart, parallel manipulators have been found in many industrial applications. In the past two decades, a number of interesting mechanical devices and design methods have been extensively studied. However, most efforts are dedicated to six degrees of freedom (6-DOF) or 3-DOF manipulators. There is a need for equipment providing more than 3 DOFs arranged in parallel and based on simpler arrangements than 6-DOF arrangements in application. This paper presents a novel 4-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 new 2T-2R, 4-DOF parallel manipulator is introduced.

Copyright © 2002 by ASME
Topics: Manipulators



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