Theory for Topology Synthesis of Parallel Manipulators and Its Application to Three-Dimension-Translation Parallel Manipulators

[+] Author and Article Information
Qiong Jin

Department of Mechanical Engineering, Southeast University, Nanjing 210096, P.R. Chinae-mail: qjin@hotmail.com

Ting-Li Yang

SINOPIC Jinling Petrochemical Corp., Nanjing 210037, P.R. Chinae-mail: yangtingli@jlpec.com

J. Mech. Des 126(4), 625-639 (Aug 12, 2004) (15 pages) doi:10.1115/1.1758253 History: Received December 01, 2001; Revised November 01, 2003; Online August 12, 2004
Copyright © 2004 by ASME
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Grahic Jump Location
A three-loop spatial mechanism
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A HOC and its equivalent SOC
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A three-limb parallel manipulator
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One-dimension-translation parallel manipulator (a) Sarrus mechanism (b) Double Sarrus mechanism
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A planar michanism with an inactive joint
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A 2-DOF partially decoupled parallel manipulator
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Selection of actuacted joints for a parallel manipulator
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Decoupled mechanism (a) {-R∥R∥C-}⊥{-R∥R∥C-}∥{-R∥R∥C-} (b) {-C∥R-P-}⊥{-C∥R-P-} (c) {-C∥R-P-}⊥{-C∥R-P-}∥{-C∥R-P-}




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