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A novel three-degrees-of-freedom fully-decoupled translational parallel manipulator, in which every limb contains a parallelogram, is presented. The analytic equations of the direct and the inverse kinematics are derived. Motion range of the actuated cylindrical joints is discussed. Furthermore, the singular configuration of the parallel manipulator is analyzed systemically according to the singularity...
A novel translational parallel manipulator with three identical legs is presented. The mobility and the selection of the actuated joints of the manipulator are addressed based on the screw theory. The kinematic problems, singularity and dexterity of the mechanism are discussed according to the different actuation methods. When the rotary actuation method is adopted, the Jacobian matrix is similar...
This paper presents the algorithms to obtain the local minimum-time trajectory planning for the five-axis machining with or without the tool deflection. The tool and workpiece are first combined as a closed-chain system of rigid bodies. The tool path and shape are simplified to the tool-workpiece system curve and tool line. The forward and inverse kinematics are applied to obtain the kinematic relation...
Based on the single-opened-chain (SOC) unit theory, a new parallel mechanism with two translational and one rotational (2T1R) degrees of freedom is put forward. Both the forward and the inverse analytical solutions of the moving platform's positions are derived. The virtual prototype model of the mechanism is established by use of the ADAMS software. According to the simulation of the virtual prototype,...
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