Design, Kinematics and Workspace Analysis of a Novel 4-DOF Kinematically Redundant Planar Parallel Grasping Manipulator

This article presents a model of novel 4-DOF kinematically redundant planar parallel grasping manipulator. As distinct from the traditional manipulator, proposed design includes an extensible platform, which provides kinematic redundancy. constructive feature is used for grasping. The discusses inverse and forward kinematics algorithm analytical relations between platform coordinates driven (controlled) coordinates. allows defining different assembly modes Both algorithms are demonstrated using numerical examples. designs manipulator in its links placed one, two, or three layers. Based on these designs, we performed their workspace analyses.