Type Synthesis, Kinematic Analysis, and Optimal Design of a Novel Class of Schönflies-Motion Parallel Manipulators

A novel class of spatial four degree-of-freedom Schönflies-motion parallel manipulators with four identical subchains is presented. Their features are that each serial subchain undergoes the pure Schönflies motion without redundant joints. The parallel mechanisms possess the simplest topology and...

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Veröffentlicht in:	IEEE transactions on automation science and engineering 2013-07, Vol.10 (3), p.674-686
Hauptverfasser:	Li, ZB, Lou, YJ, Zhang, Y, Liao, B, Li, ZX
Format:	Artikel
Sprache:	eng
Schlagworte:	Approximation Automation Global condition index Indexes Joints kinematic analysis Kinematics Layout Manipulators optimal design Optimization parallel manipulators regular workspace share Schönflies motion singularity type synthesis workspace
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