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Kinematics Analysis of a New 3-DOF Rotational Parallel Mechanism

[+] Author Affiliations
Ziming Chen, Wen-ao Cao, Zhen Huang

Robotics Research Center, Yanshan University, Qinhuangdao, Hebei, China

Paper No. DETC2012-70849, pp. 573-578; 6 pages
doi:10.1115/DETC2012-70849
From:
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME

abstract

In this paper a new rotational parallel mechanism which has three rotational freedoms is studied. This mechanism consists of only revolute joints. In this mechanism, no joints intersect with each other. The constraint and motion properties are analyzed. The inverse kinematics is solved and the orientation workspace is studied. In the end, the relationship between the orientation workspace and the link lengths is shown.

Copyright © 2012 by ASME

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