Mechanism Design for 3-, 4-, 5- and 6-DOF PMWPSs
نویسندگان
چکیده
Mechanism innovation design is an important topic in the field of robot. Many kinds of limbs with specific degrees of freedom (DOFs) are proposed, in which a new joint, P-joint is introduced. In order to obtain new mechanisms of parallel manipulators (PMs), a principle for mechanism design of PMs is adopted, which is based on the special Plücker coordinates for describing a limb. By the principle, many new mechanisms of 3-, 4-, 5and 6-DOF parallel manipulators with perpendicular structures (PMWPSs) are put forward, and structure figures are given to denote their configurations. The new mechanism for PMWPSs we design can be used in many areas. Key-Words: Parallel manipulator, Perpendicular structures, P-joint, Mechanism design, PMWPSs
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