A Novel 2T2R 4-DOF Parallel Manipulator
作者单位：Xi'an University of Technology Department of Mechanical and Precision Instrumental Engineering Jiaozuo University Department of Electromechanical Engineering Baoji University of Arts and Sciences Mechanical and Electrical Institute Henan University of Science and Technolog Department of Electromechanical Engineering
会议名称：《The 2011 Fourth International Symposium on Knowledge Acquisition and Modeling（KAM 2011）》
会议日期：2011年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：the fund supports of National Science Foundation of PR China (No.50575180) Research Foundation of Excellent Doctoral Dissertation of Xi’an University of Technology (No.207-210003)
关 键 词：Parallel manipulator screw theory singular configuration
摘 要：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.