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A new family of spatial 3-DOF parallel manipulators with two translational and one rotational DOFs

Published online by Cambridge University Press:  01 March 2009

Xin-Jun Liu ,
Jinsong Wang ,
Chao Wu  and
Jongwon Kim
Xin-Jun Liu*
Affiliation:
Institute of Manufacturing Engineering, Department of Precision Instruments, Tsinghua University, Beijing 100084, China
Jinsong Wang
Affiliation:
Institute of Manufacturing Engineering, Department of Precision Instruments, Tsinghua University, Beijing 100084, China
Chao Wu
Affiliation:
Institute of Manufacturing Engineering, Department of Precision Instruments, Tsinghua University, Beijing 100084, China
Jongwon Kim
Affiliation:
School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea
*
*Corresponding author. E-mail: [email protected]
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Summary

This paper proposes a new family of spatial 3-DOF (degree of freedom) parallel manipulators with two translational and one rotational DOFs. The manipulators in this family are the variations of the parallel manipulators, which are capable of very high rotational capability, introduced by X.-J. Liu, J. Wang, and G. Pritschow (“A new family of spatial 3-DoF fully parallel manipulators with high rotational capability,” Mech. Mach. Theory40(4), 475–494, 2005). However, compared with those old manipulators, the new parallel manipulators proposed here have the advantages of simpler kinematics and structure, easier manufacturing, and energy saving.

Keywords

Parallel manipulatorsType synthesisDegree of freedomRotational capability
Type
Article
Information
Robotica , Volume 27 , Issue 2 , March 2009 , pp. 241 - 247
Copyright
Copyright © Cambridge University Press 2008

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