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This paper proposes a 6-DOF (Degree of Freedom) heavy-load parallel manipulator with a redundant actuation and fault-tolerant actuator (RFTA). The novel RFTA model of the proposed manipulator is developed and its working principle is described. In order to achieve the given motion, the mathematic models of the proposed manipulator with the RFTA are derived. As a prototype of an earthquake simulator,...
This paper reviews several key issues on the trends and open research problems of parallel manipulators. The research of a parallel manipulator structure is an essential question. It includes two research issues: design of a novel parallel robot mechanism and performance indexes. This paper reviews the methods on the two aspects and presents the research directions. The paper discusses the functions...
In this paper a novel orthogonal 6-DOF (Degree Of Freedom) parallel robot with redundant actuation is studied as an earthquake motion simulator. Taking the practical simulation of earthquake waves into consideration, we firstly analyze the general characteristics of natural earthquakes. Complexity and variety of seismic waves, 3-dimension and multi-DOF movement and strong devastating force are regarded...
This paper introduced a three degree-of-freedom planar parallel mechanism which is composed of three branches. In order to give directions for the following engineering design of the mechanism, the inverse kinematics and forward kinematics of this parallel mechanism are analyzed, which shows that analytical equations for the inverse and forward kinematics of the novel parallel mechanism can be obtained...
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